Consensus Tracking of Multi-agent Systems with Time-delays Using Adaptive Iterative Learning Control

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Abstract:In the technical note, consensus tracking is studied for multi-agents system(MAS) with state time-delays. Every agent of the MAS has homogeneous dynamic function, which is described by a nonlinearly parameterized functions with unknown state time-delays. Moreover, it is assumed that the virtual leader(regarded as the desired trajectory) can be accessible to at least one agent. Based on several necessary assumptions, a distributed adaptive ILC is designed. In order to prove the convergence of tracking error, a composite energy function is designed. The result of convergence analysis shows that the designed control strategy can guarantee the agents track virtual leader along the iteration axis. A numerical simulation is provided to illustrate the effectiveness of the adaptive iterative learning controller.

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