Quantized consensus analysis for a class of heterogeneous multi-agent systems

A quantized consensus protocol for heterogeneous multi-agent systems composed of first-order and second-order agents is proposed. The sufficient conditions for achieving consensus and the final consensus values are obtained respectively. Communication topology contains spanning tree and some conditions can be satisfied on control parameters and sampling period, then consensus can be achieved. When the consensus conditions can be established, the consensus errors converge to a neighborhood of the origin and it disappears as the quantized errors tend to zero. The effectiveness of the theoretical results is illustrated by the simulation examples.