Event-triggered distributed consensus of quantized second-order multiagent systems with partially measurable states

This paper considers the asymptotic consensus problem for discrete-time second-order multiagents systems under event-triggering strategies. In the MASs, the position variable of each agent is measurable, while the velocity is not. For generating control input properly, each agent maintains estimated states of itself and its neighbors which should be updated carefully. Considering the finite bandwidth digital communication networks, a quantized event-triggered control strategy is proposed to save communication resources. By making good use of the extra information contained in the event-triggering time instants, only a finite number of bits is needed to generate triggering signal symbol for each event. It shows in the simulation that the communication frequency can be further reduced and a lower bit rate than that of periodic sampling schemes can guarantee asymptotic consensus of the positions and velocities.