An iterative learning approach to formation control of multi-agent systems

作者：Liu Yang^*; Jia Yingmin

来源：Systems & Control Letters, 2012, 61(1): 148-154.

DOI：10.1016/j.sysconle.2011.10.011

• Formation control problem
• Multi-agent system
• Iterative learning control (ILC)
• Nonlinear dynamics
• Switching topology

In this paper, an efficient framework is proposed to the formation control problem of multiple agents with unknown nonlinear dynamics, by means of the iterative learning approach. In particular, a distributed D-type iterative learning scheme is developed for the multi-agent system with switching topology, whose switching time and sequence are allowed to be varied at different iterations according to the actual trajectories of agents, and a sufficient condition is derived to ensure that the desired formation can be always preserved from the initial starting location to the final one after some iterations. Simulation results are provided to verify the effectiveness of the proposed approach.

• 出版日期2012-1
• 单位北京航空航天大学