Quantized Consensus Tracking Problem for Nonlinear Multi-agent Systems with Initial State Error and Time Delay

This paper considers a quantized tracking problem for nonlinear multi-agent systems (MAS) with arbitrary initial states and time delay. For actual digital communication networks, agents can only transmit state information with limited bandwidth. Therefore, the transmission of the quantized signals between agents is more in line with the requirements of the actual communication network. What’s more, in order to deal with the initial state errors and the nonlinear part of quantization and time delay, a new method of control inputs compensation via iterative learning control (ILC) is introduced in this paper, and the system output can converge to desired output with a error bound. The effectiveness of the designed protocol is verified by a numerical simulation and real system simulation.