Periodic Event-Triggered Consensus with Quantization

This brief addresses the periodic event-triggered consensus problem for multiagent systems with quantized information communication over directed topology. The combined effect of periodic event-triggered control and quantized control on the consensus problem is investigated. Both the uniform and logarithmic quantizers are considered. Under the assumption that the communication topology has a directed spanning tree, it is shown that practical consensus can be achieved when uniform quantizers and logarithmic quantizers are employed, respectively, by choosing sampling period and design parameters in the event conditions. Numerical simulations are provided to illustrate the effectiveness of our results.