Quantized consensus of second-order multi-agent systems via impulsive control

This paper studies the consensus of second-order continuous-time multi-agent systems with quantized interaction. For static consensus, a hybrid impulsive protocol is proposed using the quantized relative position information. We prove that for any quantizer accuracy, the multi-agent systems can reach consensus if impulsive intervals are less than a given value. For dynamical consensus, an impulsive protocol is presented using both the quantized relative position and velocity information. It is shown that for any given impulsive interval, the multi-agent system can achieve consensus by selecting appropriate control gains and sufficiently small quantizer accuracy. The simulation results are given to verify the effectiveness of the theoretical results.