Discontinuities and hysteresis in quantized average consensus

Abstract

We consider continuous-time average consensus dynamics in which the agents' states are communicated through uniform quantizers. Solutions to the resulting system are defined in the Krasowskii sense and are proven to converge to conditions of "practical consensus". To cope with undesired chattering phenomena we introduce a hysteretic quantizer, and we study the convergence properties of the resulting dynamics by a hybrid system approach.

arXiv comment26 pages, 7 figures. Accepted for publication in Automatica. v4 is minor revision of v3