Adaptive coordinated tracking of multi-agent systems with quantized information

In this paper, we study the adaptive coordinated tracking problem for continuous-time first-order integrator systems with quantized information under switching undirected and fixed directed communication graphs, respectively. The combined effect of quantized relative information error and quantized absolute information error on the tracking result is investigated. Both the logarithmic quantizers and uniform quantizers are considered. It is shown that when logarithmic quantizers are used, exact coordinated tracking can still be achieved by properly choosing the design parameters in the controller while when uniform quantizers are used, practical coordinated tracking can be achieved with tracking error bounds proportional to the quantizer parameter. Simulation examples are provided to illustrate the results.