Distributed Quantized Control of Nonlinear Multi-Agent Systems Under Cooperative-Competitive Networks

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Abstract
This paper investigates the distributed quantized control problems of nonlinear multi-agent systems under cooperative-competitive networks, where all signals in the feedback channels and the communication channels are quantized. Since the quantized signals in the feedback channels and the communication channels are discontinuous, the stabilizing functions are also discontinuous. This leads to the unavailability of the backstepping technique that requires the stabilizing function to be differentiable. To this end, a universal smoothness approach is proposed to establish the smooth approximations of the quantized signals in both the feedback channels and the communication channels. Based on these smooth approximations, a distributed quantized control protocol is designed to achieve the cluster tracking when the communications among the agents involve both cooperative and competitive relationships. It is shown that the neighborhood errors are constrained within the prescribed performance bounds. Finally, two simulation examples and a real-world implementation are given to illustrate the validity of the proposed protocol.
Funding Information
  • Postdoctoral Fellowship Program and China Postdoctoral Science Foundation (BX20250404)
  • Natural Science Foundation of Liaoning Province of China (2025-MS-033)
  • National Natural Science Foundation of China (62503092)
  • National Natural Science Foundation of China (61973068)
  • Postdoctoral Science Foundation of Northeastern University (20250102)

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