Distributed event-triggered quantized consensus for multi-agent systems under general directed graphs

This paper studies the distributed event-triggered quantized consensus control problem for continuous-time multiagent systems (MASs) under a general directed graph. Taking the constrains of communication bandwidth and storage space into consideration, a logarithmic quantizer is introduced for each channel. To further save communications costs, an event-triggered broadcasting scheme is developed for each channel, without incurring Zeno behavior. Based on the above communication protocol, to achieve consensus, a distributed event-triggered quantized consensus controller is developed for each agent. Compared with the consensus control methods that rely on continuous communication, the proposed method saves the communication costs in both temporal and spatial aspects. The effectiveness of the proposed methodology is illustrated by the results of simulation.