Quantized-data consensus of second-order multi-agent systems with directed topology

This paper studies the consensus problem for linear discrete-time second-order multi-agent system with quantized data under directed topologies. The necessary and sufficient conditions for consensus are given by using a quantized consensus protocol via positions and velocities. Also, the final consensus value is obtained if the design parameters satisfy the conditions of the quantized consensus and the length of quantization interval tends to zero. Furthermore, the observer-based quantized consensus is investigated as well when the velocities of agents are unavailable. Simulation examples are provided to verify and illustrate the theoretical results obtained in this paper.