Consensus control for a class of second-order multi-agent systems: An iterative learning approach
- Resource Type
- Conference
- Authors
- Shi, Jiantao; He, Xiao; Wang, Zidong; Zhou, D. H.
- Source
- 2013 International Conference on Unmanned Aircraft Systems (ICUAS) Unmanned Aircraft Systems (ICUAS), 2013 International Conference on. :841-849 May, 2013
- Subject
- Aerospace
Transportation
Signal Processing and Analysis
Robotics and Control Systems
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Vectors
Protocols
Lead
Topology
Vehicle dynamics
Control systems
Iterative methods
Multi-agent system (MAS)
consensus control
iterative learning control (ILC)
double integrator dynamics
- Language
This paper studies the distributed consensus control problem for a class of leader-follower multi-agent systems with double integrator dynamics by using an iterative learning approach. Consensus errors of individual agents are considered as the anticipation in time and a distributed iterative learning protocol for an undirected networks with a fixed topology is proposed to guarantee that the follower agents track the leader perfectly in finite time. The dynamic of the leader agent is assumed to be time-varying and its state information is available to only a portion of the followers. A sufficient condition is obtained for the consensus control problem of the multiagent system, and a numerical example is provided to show the effectiveness of the proposed method.