Learning cooperative control of a class of multi-agent systems with unknown external disturbances

Abstract

Abstract: For the multi-agent systems with unknown external interferences, in the framework of iterative learning control, combined with adaptive control, firstly, a time-varying gain with differential parameter adaptive law is designed, at the same time, in order to compensate the unknown external interferences, the auxiliary control protocol is proposed. By constructing the composite energy function and based on Barbalat-like lemma, the perfect consensus on the interval [0,T] is proved. Secondly, the formation problem is transformed into the consensus problem by the coordinate transformation.Finally,the effectiveness of the proposed algorithm is verified using a simulation example.

Key words: multi-agent systems, iterative learning control, unknown external disturbances, consensus

CLC Number:

YANG Na-na, MENG Xin-you, XUAN Hai-yan. Learning cooperative control of a class of multi-agent systems with unknown external disturbances[J]. Journal of Lanzhou University of Technology, 2021, 47(3): 70-77.

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