Quantized cooperative control using relative state measurements

We consider cooperative control of multi-agent systems under limited communication between neighboring agents. In particular, quantized values of the relatives states are used as the control parameters of each agent. The results are derived for both uniform and logarithmic quantizers. Both static and time-varying communication topologies are considered. The stability conditions derived are less conservative than the corresponding ones in our previous work. Moreover, the case of second order dynamics is taken into account. The derived results are supported through computer simulations.