Consensus tracking of multi-agent systems with time-delays using adaptive iterative learning control
Ruikun Zhang, Ronghu Chi, Zhongsheng Hou · 2017 6th Data Driven Control and Learning Systems (DDCLS) · 2017
In the technical note, consensus tracking is studied for multi-agents system (MAS) with state time-delays. Every agent of the MAS has homogeneous dynamic function, which is described by a nonlinearly parameterized functions with unknown state time-delays. Moreover, it is assumed that the virtual leader (regarded as the desired trajectory) can be accessible to at least one agent. Based on several necessary assumptions, a distributed adaptive ILC is designed. In order to prove the convergence of tracking error, a composite energy function is designed. The result of convergence analysis shows that the designed control strategy can guarantee the agents track virtual leader along the iteration axis. A numerical simulation is provided to illustrate the effectiveness of the adaptive iterative learning controller.