Leader-following consensus control for linear multi-agent systems with quantized communication

In this paper, we consider consensus problems for linear multi-agent systems with quantized communication among agents. In order to achieve consensus, distributed consensus protocols which only based on the quantized relative states of neighboring agents is proposed. Some sufficient conditions are presented to reach the consensus of linear multi-agent systems by using algebraic graph theory, Lyapunov stability analysis and Krasovskii solution. Meanwhile, it is also pointed out that when the agents obtain time delayed information, the given system can also reach consensus under some conditions. Finally, numerical simulations are presented to verify the effectiveness of the theoretical analysis.