Robust formation control of discrete-time multi-agent systems by iterative learning approach

被引：41

作者：

Liu, Yang ^{[1
,2
]}

Jia, Yingmin ^{[1
]}

机构：

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

[2] Beihang Univ BUAA, Dept Syst & Control, Beijing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 2015年 / 46卷 / 04期

关键词：

initial shifts; switching topology; formation control; iterative learning control (ILC); nonlinear dynamics; discrete-time multi-agent system; NETWORKED CONTROL-SYSTEMS; DESIGN;

D O I：

10.1080/00207721.2013.793781

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By means of the iterative learning approach, robust formation control is investigated for the discrete-time multi-agent systems with unknown nonlinear dynamics, in the presence of iteration-varying initial formation errors. The formation problem is firstly converted into a stability control problem, and then a distributed iterative learning scheme is developed for networks with switching topology. Based on the 2-D analysis approach, a sufficient condition is derived to guarantee the boundedness of formation errors during the whole motion process, and feedback matrix of the proposed iterative scheme can be further determined by solving linear matrix inequalities (LMIs). Simulation results illustrate the effectiveness of the proposed method.

引用

页码：625 / 633

页数：9

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