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

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  • Jinsha Li
  • Junmin Li

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.

Suggested Citation

  • Jinsha Li & Junmin Li, 2016. "Distributed adaptive fuzzy iterative learning control of coordination problems for higher order multi-agent systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(10), pages 2318-2329, July.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:10:p:2318-2329
    DOI: 10.1080/00207721.2014.993139
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