Bit-Rate Conditions for the Consensus of Quantized Multiagent Systems With Network-Induced Delays Based on Event Triggering

This paper is mainly concerned with bit-rate conditions to guarantee the consensus of unstable scalar multiagent systems by event-triggering strategies. In such systems, state information is quantized and transmitted among agents through digital communication networks which suffer from network-induced delays. In order to save communication resources, we implement a periodic event-triggering scheme, under which agents quantize and transmit their own states when a predefined event is triggered. By introducing a well-designed internal saturation function, the proposed strategy can place
a priori
bounds on the control inputs of agents and guarantee the asymptotic consensus of agents at a finite bit rate, even under network-induced delays. By extracting extra information from the receive time instants of data packets, our strategy can require less information carried by data packets and a lower bit rate to maintain the desired asymptotic consensus than some state-of-the-art time-triggered consensus strategies. Under our strategy, the obtained bit-rate conditions depend on the network-induced delays, the unstable eigenvalue of agent dynamics, and the network topology. The simulation results are provided to illustrate the effectiveness of these bit-rate conditions.