An iterative learning approach to formation control of multi-agent systems

被引：183

作者：

Liu, Yang ^{[1
]}

Jia, Yingmin

机构：

[1] Beihang Univ BUAA, Div Res 7, Beijing 100191, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2012年 / 61卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Formation control problem; Multi-agent system; Iterative learning control (ILC); Nonlinear dynamics; Switching topology;

D O I：

10.1016/j.sysconle.2011.10.011

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an efficient framework is proposed to the formation control problem of multiple agents with unknown nonlinear dynamics, by means of the iterative learning approach. In particular, a distributed D-type iterative learning scheme is developed for the multi-agent system with switching topology, whose switching time and sequence are allowed to be varied at different iterations according to the actual trajectories of agents, and a sufficient condition is derived to ensure that the desired formation can be always preserved from the initial starting location to the final one after some iterations. Simulation results are provided to verify the effectiveness of the proposed approach. (C) 2011 Elsevier B.V. All rights reserved.

引用

页码：148 / 154

页数：7

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