Event-Triggered Consensus of Multi-agent Systems with Spherical Polar Coordinate Quantization Mechanism

This paper explores the event-triggered consensus of multi-agent systems (MASs) with directed topology under dynamic quantization. Firstly, a spherical polar coordinates-based quantizer is introduced to quantize high-dimensional vectors, which is purposed to solve the bandwidth limitation of signal transmission and reduce the number of quantizers. Next, a novel event-triggered mechanism (ETM) composed of control protocol and quantizer parameters is applied for the MASs to achieve consensus under the dynamic quantization strategy. Furthermore, it is shown that the above-mentioned event-triggered quantized control techniques can effectively exclude Zeno behavior. Finally, a numerical simulation example is given to demonstrate the validity of the theoretical results.