Observer-based distributed consensus for nonlinear multi-agent systems with limited data rate

In this paper, we investigate observer-based distributed consensus problem for nonlinear multi-agent systems with limited data rate. We assume that each agent displays strict-feedback nonlinear dynamics. An observer is constructed to estimate the system states as they cannot be directly measured. Uniform quantizer and logarithmic quantizer are considered in communication channels among agents and observer-based distributed control protocols are proposed for each agent. For uniform quantizer, the delta-asymptotic distributed consensus, with delta being the resolution of the quantizer, can be achieved under the proposed control protocol, i.e., the consensus errors tend to zero as delta approaches zero. For logarithmic quantizer, the asymptotic consensus can be achieved. The simulation results reveal the conclusion.