Quantization Effects on Second-Order Consensus Dynamics

In recent years, the coordination of the motion of teams ofmobile autonomous agents has become a central topic inthe study of distributed control of multi-agent systems [1].To implement such distributed control strategies, however,requires the agents to know their neighboring peers’ information,which sometimes cannot be acquired through realtimesensing, but can only be obtained in its quantized formthrough digital communication instead.Recently some interesting sufficient and/or necessary conditionshave been constructed for systems of double integratorsto get synchronized when no quantization effects areconsidered [2, 3]. We take the control laws that have beenused in the literature, but study their performances whenquantized information is used