Adaptive iterative learning control for coordination of second-order multi-agent systems

作者：Li, Jinsha; Li, Junmin^*

来源：International Journal of Robust and Nonlinear Control, 2014, 24(18): 3282-3299.

DOI：10.1002/rnc.3055

• multi-agent systems
• adaptive iterative learning control
• consensus algorithm
• formation control
• composite energy function
• nonlinear dynamics

In this paper, an efficient framework is proposed to the consensus and formation control of distributed multi-agent systems with second-order dynamics and unknown time-varying parameters, by means of an adaptive iterative learning control approach. Under the assumption that the acceleration of the leader is unknown to any follower agents, a new adaptive auxiliary control and the distributed adaptive iterative learning protocols are designed. Then, all follower agents track the leader uniformly on [0,T] for consensus problem and keep the desired distance from the leader and achieve velocity consensus uniformly on [0,T] for the formation problem, respectively. The distributed multi-agent coordinations performance is analyzed based on the Lyapunov stability theory. Finally, simulation examples are given to illustrate the effectiveness of the proposed protocols in this paper.

• 出版日期2014-12
• 单位西安电子科技大学