Quantised consensus of heterogeneous multi-agent systems

In this study, the consensus problem of heterogeneous multi-agent systems with quantised interactions is investigated. Distributed control laws are proposed for heterogeneous multi-agent systems by using uniform and logarithmic quantisers, respectively. Based on graph theory and non-smooth analysis, it is shown that the heterogeneous multi-agent system can reach consensus with logarithmic quantisers. For uniform quantisers, some convergence results are also derived. Simulation examples are presented to illustrate the effectiveness of the theoretical results.