Formation Tracking via Iterative Learning Control for Multiagent Systems with Diverse Communication Time-Delays

Jialu Zhang, Yong Fang, Chenlong Li and Wenbo Zhu

Mathematical Problems in Engineering, 2019, vol. 2019, 1-12

Abstract:

In this paper, we consider the formation tracking problem for multiagent systems with diverse communication time-delays by using iterative learning control (ILC) method based on the frequency domain analysis. A first-order ILC law for multiagent systems with diverse communication time-delays is first proposed and its convergence conditions are given by the general Nyquist stability criterion and Gershgorin’s disk theorem. Then, in order for the system to track accurately, a second-order ILC law is presented. The conditions for system tracking with zero error are established. Numerical simulations show that the proposed ILC laws for multiagent systems with diverse communication time-delays are able to achieve effectively formation tracking. And the convergence speed remains the same as the learning control algorithm without communication delay.

Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:8164297

DOI: 10.1155/2019/8164297

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