Distributed adaptive fuzzy iterative learning control of coordination problems for higher order multi-agent systems

Abstract

In this paper, the adaptive fuzzy iterative learning control scheme is proposed for coordination problems of Mth order (M ≥ 2) distributed multi-agent systems. Every follower agent has a higher order integrator with unknown nonlinear dynamics and input disturbance. The dynamics of the leader are a higher order nonlinear systems and only available to a portion of the follower agents. With distributed initial state learning, the unified distributed protocols combined time-domain and iteration-domain adaptive laws guarantee that the follower agents track the leader uniformly on [0, T]. Then, the proposed algorithm extends to achieve the formation control. A numerical example and a multiple robotic system are provided to demonstrate the performance of the proposed approach.

Keywords:

• coordination problem
• nonlinear systems
• multi-agent system
• fuzzy system
• adaptive iterative learning control

Acknowledgements

The authors would like to thank the editors and the anonymous reviewers for many helpful comments and suggestions.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by Ph.D. Programs Foundation of Ministry of Education of China [grant number JY0300137002]; and the Fundamental Research Funds for the Central Universities [grant number JB142001-6].

Notes on contributors

Jinsha Li

Jinsha Li graduated from Xianyang Normal University, China in 2009. She received the MSc degree from Xidian University in 2012. She is currently a PhD candidate at Department of Applied Mathematics, Xidian University. Her research interests include iterative learning control and distributed control of MAS.

Junmin Li

Junmin Li graduated from Xidian University, China in 1987. He received the MSc degree from Xidian University in 1990 and the PhD degree from the Xi'an Jiao Tong University, China in 1997. He is currently a professor at Department of Applied Mathematics, Xidian University. His research interests include adaptive control, learning control of MAS, hybrid system control theory and the networked control systems, etc.