Consensus Control of Dual-rate Multi-agent Systems with Quantized Communication

The present study discusses the consensus control of dual-rate multi-agent systems, where the sampling/communication interval of quantized data is an integer multiple of the control interval. A conventional multi-agent system uses a dynamic quantizer which is designed in a single-rate system where the intervals are equal, i.e., the control interval length is the same as the communication interval length. However, a dynamic quantizer designed in a dual-rate system is expected to have improved control performance. In the present study, an objective function is divided into a quantization term, which is related to the quantization error, and the remaining term. The proposed dual-rate dynamic quantizer is designed such that the quantization term is minimized. Finally, in numerical examples, the proposed dual-rate method is quantitatively evaluated by comparing with the conventional single-rate method, and the effectiveness of the proposed method is demonstrated.