Quantized Consensus Control of Nonlinear Discrete-Time Multi-Agent Systems

  • Olubusola Nuga

Student thesis: Phd

Abstract

The information exchanged among agents over a discrete-time network due to quantization reduce the performance of the multi-agent systems. In this thesis, the performance effect of this restriction is examined. Subsequently, the necessary and sufficient condition to guarantee consensus of the quantized nonlinear multi-agent systems is provided using the Kalman-Yakubovich-Popov $ (KYP) $ lemma. However, the $ KYP $ lemma depends on the existence of some real functions, the passivity of the multi-agent systems can be determined using the KYP lemma and the quantized information. Necessary and sufficient condition is given to guarantee the consensus of the multi-agent systems. An observer-based quantized consensus control for Lipschitz nonlinear systems with Lyapunov-Krasovskii function is designed. The observer is expressed in linear matrix inequalities (LMIs) to ensured the passivity of the discrete-time system. The quantized consensus control and asymptotic stability of the system are solved using the Lyapunov functions. The quantized information is used to achieve a consensus of the proposed multi-agent system. Also, the quantized consensus control of a discrete-time Lipschitz nonlinear multi-agent systems with input delay is investigated. In other to deal with the input delay, the Artstein's reduction model approach is used, alongside a set of linear matrix inequalities and the quantized information for the analysis. Hence, the quantized consensus control and stability of the proposed control systems can be achieved in the time domain using the Lyapunov approach. Furthermore, the quantized consensus control of Lipschitz nonlinear discrete-time multi-agent systems with truncated prediction approach and input delay is addressed to determine the response of each agent. The input delay is solved using the truncated predicted method, with this method and the Lyapunov-Krasovskii functional, alongside the given assumption, the quantized consensus protocol is proposed. The proposed method is employed to guarantee the consensus of the quantized nonlinear Lipschitz systems. Finally, simulation examples are presented to illustrate the effectiveness of the results.
Date of Award31 Dec 2019
Original languageEnglish
Awarding Institution
  • The University of Manchester
SupervisorZhirun Hu (Supervisor) & Zhengtao Ding (Supervisor)

Keywords

  • Discrete-time
  • Nonlinear Systems
  • Quantization
  • Lipschiptz

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