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

Abstract EN

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.