Consensus Tracking by Iterative Learning Control for Linear Heterogeneous Multiagent Systems Based on Fractional-Power Error Signals

• Main Authors: Yu-Juan Luo, Cheng-Lin Liu, Guang-Ye Liu
• Format: Article
• Language: English
• Published: MDPI AG 2019-09-01
• Series: Algorithms
• Subjects: heterogeneous linear multiagent systems; consensus tracking; fractional-power tracking error; PD type iterative learning control
• Online Access: https://www.mdpi.com/1999-4893/12/9/185

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.