This paper investigates the coordination of nonlinear sampled-data multiagent systems subject to a data rate constraint. The purpose is to design resource-efficient communication and control strategies that guarantee exponential synchronization. Two implementation scenarios are considered: the period time-triggered control and the period event-triggered control. One of the main difficulties of the problem is to obtain an explicit formula for the maximum-allowable sampling period (MASP). To this end, an approach on finding the MASP for period time-triggered control is proposed first. Then, an asynchronous period event-triggered control strategy is formulated, and a communication function and a control function are designed for each agent to determine, respectively, whether the sampled state and control input should be transmitted at each sampling instant. Finally, the constraint of the limited data rate is considered. An observer-based encoder–decoder and a finite-level quantizer are designed, respectively, for the sensor-controller communication and the controller-actuator communication such that a certain constraint on the data rate is satisfied. It is shown that exponential synchronization can still be achieved in the presence of the data-rate constraint. A simulation example is given to illustrate the effectiveness of the theoretical results.

中文翻译：

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有限数据速率下周期性事件触发多主体控制中采样周期的显式计算

本文研究了受数据速率约束的非线性采样数据多主体系统的协调。目的是设计可保证指数同步的资源节约型通信和控制策略。考虑了两种实现方案：周期时间触发的控制和周期事件触发的控制。该问题的主要困难之一是获得最大允许采样周期（MASP）的明确公式。为此，首先提出了一种寻找用于周期时间触发控制的MASP的方法。然后，制定了异步周期事件触发的控制策略，并为每个代理设计了通信功能和控制功能，分别确定 是否应在每个采样时刻传输采样状态和控制输入。最后，考虑了有限数据速率的约束。针对传感器-控制器通信和控制器-执行器通信，分别设计了基于观察者的编码器-解码器和有限级量化器，从而满足了对数据速率的一定约束。结果表明，在存在数据速率约束的情况下仍然可以实现指数同步。仿真例子说明了理论结果的有效性。用于传感器-控制器通信和控制器-执行器通信，从而满足对数据速率的特定约束。结果表明，在存在数据速率约束的情况下仍然可以实现指数同步。仿真例子说明了理论结果的有效性。用于传感器-控制器通信和控制器-执行器通信，从而满足对数据速率的特定约束。结果表明，在存在数据速率约束的情况下仍然可以实现指数同步。仿真例子说明了理论结果的有效性。