Distributed Quantized Control with Dynamic Event-Based Communication Under Directed Graphs

This paper studies the consensus problem for general linear networked systems subject to uniform quantization effect on directed topologies. A control framework consisting of a distributed control protocol and a dynamic event-triggering rule is developed to guarantee that the consensus error can exponentially converge to a bounded and adjustable set without bringing about Zeno phenomenon. Compared with traditional consensus problem requiring the continuous-time communication, the information transfer between adjacent agents in this paper only occurs at certain discrete instants at which specific events are triggered. Under the proposed dynamic event-based communication mechanism, the costs on the communication and computation can be further saved. Another distinct feature of this paper lies in that the designed control framework is applicable to directed strongly connected networks, which is more practical than existing results that are only suitable for undirected connected graphs. Finally, numerical simulation results are presented to confirm the validity of the theoretical results.