Consensus of Multiagent Systems With Input Delay and Communication Restriction: A Delay-Dependent Quantization Control Approach

Distributed consensus control of multiagent systems (MASs) subject to communication restriction and input delay is studied in this article. Real-time state information of agents is usually not available due to various problems, such as time delay, so a truncated prediction method is used to predict the current states of agents utilizing the delayed state. Furthermore, a logarithmic quantizer is introduced to mitigate the communication constraints. For reducing resource consumption, an event-triggered mechanism (ETM) with quantized communication is designed. Furthermore, a delay-dependent quantization control protocol is proposed for practical leader-following consensus of linear MASs. The effectiveness of ETM in avoiding continuous update of the controller is demonstrated by excluding Zeno behavior. Finally, the results are generalized to the case where input delay is time-varying, and a delay-dependent control strategy using quantized information is developed. Simulations are presented to demonstrate the efficacy of the theoretical results.