Finite-time synchronization for nonlinear multi-agent system with directed structure by iterative learning control

2017 ◽  
Author(s):  
Zongzong Lin ◽  
Tianping Chen ◽  
Wenlian Lu
Keyword(s):  
Finite Time ◽  
Iterative Learning Control ◽  
Time Synchronization ◽  
Learning Control ◽  
Iterative Learning ◽  
Multi Agent System ◽  
Agent System ◽  
Multi Agent ◽  
Directed Structure

scholarly journals Consensus Control of Multi-agent Robot System with State Delay Based on Fractional-Order Iterative Learning Control Algorithm

2020 ◽  
Vol 53 (6) ◽  
pp. 771-779
Author(s):  
Yanghua Gao ◽  
Weidong Lou ◽  
Hailiang Lu ◽  
Yonghua Jia
Keyword(s):  
Fractional Order ◽  
Finite Time ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Iterative Learning ◽  
Robot System ◽  
Consensus Control ◽  
Repetitive Motion ◽  
Multi Agent ◽  
Fixed Topology

This paper mainly explores the consensus control of multi-agent robot system with repetitive motion under the constraints of a leader and fixed topology. To realize the consensus control, a fractional order iterative learning control (FOILC) algorithm was designed under the mode of distributed open-closed-loop proportional-derivative alpha (PDα). The uniform convergence of the algorithm in finite time was discussed, drawing on factional calculus, graph theory, and norm theory, resulting in the convergence conditions. Theoretical analysis shows that, with the growing number of iterations, each agent can choose the appropriate gain matrix, and complete the tracking task in finite time. The effectiveness of the proposed method was verified through simulation.

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