Distributed adaptive fuzzy iterative learning control of coordination problems for higher order multi-agent systems

Jinsha Li and Junmin Li

International Journal of Systems Science, 2016, vol. 47, issue 10, 2318-2329

Abstract: In this paper, the adaptive fuzzy iterative learning control scheme is proposed for coordination problems of Mth order (M ≥ 2) distributed multi-agent systems. Every follower agent has a higher order integrator with unknown nonlinear dynamics and input disturbance. The dynamics of the leader are a higher order nonlinear systems and only available to a portion of the follower agents. With distributed initial state learning, the unified distributed protocols combined time-domain and iteration-domain adaptive laws guarantee that the follower agents track the leader uniformly on [0, T]. Then, the proposed algorithm extends to achieve the formation control. A numerical example and a multiple robotic system are provided to demonstrate the performance of the proposed approach.

Date: 2016
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DOI: 10.1080/00207721.2014.993139

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