Formation Tracking for Nonlinear Multi-agent Systems with Input and Output Quantization via Adaptive Output Feedback Control

Signal quantization can reduce communication burden in multi-agent systems, whereas it brings control challenge to multi-agent formation tracking. This paper studies the output feedback control problem for formation tracking of multi-agent systems with both quantized input and output. The agents are described by a nonlinear dynamic model with unknown parameters and immeasurable states. To estimate immeasurable states and solve the uncertainties, state observers are developed by using dynamic high-gain tools. Through proper parameter designs, an output feedback quantized controller is established based on quantized output signals, and the quantization effect on the control system is eliminated. Stability analysis proves that, with the proposed control scheme, multi-agent systems can track the reference trajectory while forming and maintaining the desired formation shape. In addition, all the signals in the closed-loop systems are bounded. Finally, the numerical simulation and practical experiment are provided to verify the theoretical analysis.