基于迭代学习的正则非线性多智能体系统的跟踪控制

Tracking Control for Regular Nonlinear Multi-Agent Systems via Iterative Learning Algorithm

研究带有领航者的正则多智能体系统基于迭代学习的跟踪控制问题,该类系统中的所有智能体由连续的非线性动态或由离散的非线性动态构建而成,在领航者于相应的有向通讯图中全局可达的条件下,设计得到分布式迭代学习控制协议.当该迭代学习控制律作用于系统时.每个跟随者与领航者之间的输出跟踪误差在有限时间区间上沿迭代轴方向趋向于零.仿真算例说明了所得结论的有效性.

This paper deals with the tracking control problem of regular multi-agent systems with a leader via iterative learning algorithm,and all the agents in the considered systems arc governed by the continuous-time nonlinear dynainics or the discretetime nonlinear dynamics.Under the condition that the leader is globally reachable in the corresponding directed communication graph,the distributed iterative learning control protocols are designed.When the iterative learning control laws are applied to the systems,the output tracking errors between every follower of the niulti-agent systems and the leader on the finite time interval can tend to zero along the iteration axis.Simulation examples illustrate the effectiveness of the proposed method.