NDLI: Iterative learning control for multi-agent systems consensus tracking

Content Provider	IEEE Xplore Digital Library
Author	Shiping Yang Jian-Xin Xu Deqing Huang
Copyright Year	2012
Description	Author affiliation: Department of Electrical and Computer Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260 (Jian-Xin Xu; Deqing Huang) \|\| NUS Graduate School for Integrative Sciences & Engineering (NGS) Centre for Life Sciences (CeLS), #05-01, 28 Medical Drive, Singapore 117456 (Shiping Yang)
Abstract	In this paper, under repeatable operation environment, an iterative learning control (ILC) scheme is applied for multi-agent systems (MAS) to perform consensus tracking, where the underline communication graph is assumed to be fixed and directed. Different from many existing consensus schemes for linear agent dynamics, we consider time-varying nonlinear agent models with non-parametric uncertainties. Furthermore, the desired consensus trajectory is only known to a subset of the agents. By virtue of the repetitiveness of tracking task and the learning ability of each agent, the proposed ILC scheme enables all agents to achieve the asymptotic output consensus in the iteration domain and perfect tracking in the time domain simultaneously. Moreover, owing to the associated initial state learning controller, the proposed consensus scheme does not require the identical initial conditions, henceforth, making it more applicable in practice. In the end, an illustrative example is provided to demonstrate the efficacy of the consensus scheme.
Starting Page	4672
Ending Page	4677
File Size	320740
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6426074
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Convergence Trajectory Vectors Eigenvalues and eigenfunctions Topology Linear matrix inequalities Laplace equations
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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