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… Click to show full abstract
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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