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

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.

A Dropout Compensation ILC Method for Formation Tracking of Heterogeneous Multi-Agent Systems with Loss of Multiple Communication Packets

“…, and ω 0 (see Appendix of [17]). Then the eigenloci of λ[F(ω, β)] for all β ∈ [−π, π), ω ∈ [−π, π), and ω 0 does not enclose the point (−1, j0).…”

“…For these reasons, communication delay, packet loss, quantization and so on will cause the ILC of multi-agent to not converge [10,11]. There are specific researches (see [12][13][14][15][16][17]) on communication delay and quantization, but few on communication packet loss. Zhang and Li [18] designed an asynchronous event triggering protocol to solve the consistency problem of multi-agent system in the case of external interference, parameter uncertainty, time-delay, and packet loss by Σ∆ quantizer.…”