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

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 firs...

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Bibliographic Details
Published in:Mathematical problems in engineering 2019, Vol.2019 (2019), p.1-12
Main Authors: Zhu, Wenbo, Li, Chenlong, Fang, Yong, Zhang, Jialu
Format: Article
Language:English
Subjects:
Algorithms
Communication
Computer simulation
Control theory
Convergence
Eigenvalues
Engineering
Frequency analysis
Frequency domain analysis
Iterative methods
Laws
Machine learning
Multiagent systems
Stability criteria
System effectiveness
System theory
Tracking control
Tracking problem
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Summary: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.
ISSN:1024-123X
1563-5147
DOI:10.1155/2019/8164297