Open AccessDistributed iterative learning coordination control for leader–follower uncertain non‐linear multi‐agent systems with input saturation
Author(s) -
Yang Nana,
Li Junmin
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6268
Subject(s) - control theory (sociology) , iterative learning control , multi agent system , adaptive control , saturation (graph theory) , interval (graph theory) , computer science , linear system , lyapunov function , tracking (education) , control (management) , nonlinear system , mathematics , artificial intelligence , physics , quantum mechanics , psychology , pedagogy , mathematical analysis , combinatorics
In this study, the fully distributed adaptive iterative learning coordination control of the uncertain non‐linear leader–follower multi‐agent systems with input saturation is studied. Under the alignment initial condition and Lyapunov theory, a novel adaptive distributed control protocol with a fully saturated parameter learning law is designed. Despite the existence of input saturation, the global perfect consensus tracking can be realised over a finite time interval. Besides, the consensus tracking problem is extended to the formation control problem as well. Ultimately, the validity of theoretical analysis of this study is shown by two examples.