Coordination control of multi-agent systems with second-order nonlinear dynamics using fully distributed adaptive iterative learning

被引：31

作者：

Li, Jinsha ^{[1
]}

Li, Junmin ^{[1
]}

机构：

[1] Xidian Univ, Sch Math & Stat, Xian 710071, Peoples R China

来源：

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS | 2015年 / 352卷 / 06期

关键词：

FINITE-TIME CONSENSUS; TRACKING CONTROL; AGENTS; LEADER;

D O I：

10.1016/j.jfranklin.2015.03.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the distributed coordination problem for leader follower multi-agent systems with second-order nonlinear dynamics by using adaptive iterative learning control. It is assumed that the state information of the leader is only available to a portion of the follower agents and the bounded input of the leader is unavailable to any follower agent. Without using any global information, a fully distributed adaptive iterative learning protocol with distributed adaptive learning laws for the control gains is designed in this paper, under which consensus is reached for all undirected connected communication graph. Furthermore, as an extension of the former result, the formation problem is studied. Finally, simulation examples are given to illustrate the theoretical analysis. (C) 2015 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

引用

页码：2441 / 2463

页数：23

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