数字信道下基于可靠通信的多自主体系统趋同

Distributed consensus over digital noisy channel through reliable communications

本文研究了多自主体系统在数字噪声信道下的分布式趋同问题.在数字网络中,由信道噪声带来的估计误差会对系统的趋同产生不良影响.针对二值对称信道的不确定性,本文提出了一种动态可靠通信策略,以保证实值随机信号的期望通信精度.进而,提出了趋同控制律,证明在该控制律下,量化器不饱和,且通过选取适当的通信时间,可以使系统实现趋同.同时,分析了通信的时间复杂度,并通过数值仿真比较了可靠通信与量化通信下的趋同表现.

This paper presents an investigation of the distributed consensus problem of multi-agent systems over a digital noisy channel.In digital networks,noise in the digital channel may significantly affect the consensus of a multi-agent system.To overcome the uncertainty of a binary erasure channel,dynamic reliable communication schemes are adopted to ensure that the real-valued random signal is transmitted up to the expected precision.We proposed consensus protocols,under which the quantizer is not saturated and the system is proved to reach consensus if an appropriate communication time is chosen.The complexity of communication is analyzed and a numerical comparison between reliable communication and quantized communication is presented.