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

In this paper, we investigate the observer-based distributed consensus problem for nonlinear multi-agent systems with a 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 quantizers and logarithmic quantizers are considered in communication channels among agents and observer-based distributed control protocols are proposed for each agent. For the uniform quantizer, theδ-asymptotic distributed consensus, with δ being the resolution of the quantizer, can be achieved under the proposed control protocol, i.e., the consensus errors tend to zero as δ approaches zero. For the logarithmic quantizer, the asymptotic consensus can be achieved. The simulation results reveal the conclusion.