Consensus Tracking by Iterative Learning Control for Linear Heterogeneous Multiagent Systems Based on Fractional-Power Error Signals
This paper deals with the consensus tracking problem of heterogeneous linear multiagent systems under the repeatable operation environment, and adopts a proportional differential (PD)-type iterative learning control (ILC) algorithm based on the fractional-power tracking error. According to graph the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-09-01
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| Series: | Algorithms |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1999-4893/12/9/185 |
| Summary: | This paper deals with the consensus tracking problem of heterogeneous linear multiagent systems under the repeatable operation environment, and adopts a proportional differential (PD)-type iterative learning control (ILC) algorithm based on the fractional-power tracking error. According to graph theory and operator theory, convergence condition is obtained for the systems under the interconnection topology that contains a spanning tree rooted at the reference trajectory named as the leader. Our algorithm based on fractional-power tracking error achieves a faster convergence rate than the usual PD-type ILC algorithm based on the integer-order tracking error. Simulation examples illustrate the correctness of our proposed algorithm. |
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| ISSN: | 1999-4893 |