Co op erative Iterative Learning Control of Linear Multi-agent Systems with a Dynamic Leader under Directed Top ologies

作     者：PENG Zhou-Hua WANG Dan WANG Hao WANG Wei 

作者机构：School of Marine Engineering Dalian Maritime University Dalian 116026 China 

出 版 物：《自动化学报》 (Acta Automatica Sinica)

年 卷 期：2014年第40卷第11期

页      面：2595-2601页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080101[工学-一般力学与力学基础] 080201[工学-机械制造及其自动化] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China (61273137  51209026  61074017)  the Scientific Research Fund of Liaoning Provincial Education Department (L2013202)  and the Fundamental Research Funds for the Central Universities (3132013037  3132014047  3132014321) 

主　　题：迭代学习控制器 Lyapunov-Krasovskii泛函 多智能体系统 领袖 线性 多代理系统 输出信息 未知输入 

摘      要：This paper considers the cooperative tracking of linear multi-agent systems with a dynamic leader whose input information is unavailable to any followers. Cooperative iterative learning controllers, based on the relative state information of neighboring agents, are proposed for tracking the dynamic leader over directed communication topologies. Stability and convergence of the proposed controllers are established using Lyapunov-Krasovskii functionals. Furthermore, this result is extended to the output feedback case where only the output information of each agent can be obtained. A local observer is constructed to estimate the unmeasurable states. Then, cooperative iterative learning controllers, based on the relative observed states of neighboring agents, are devised. For both cases, it is shown that the multi-agent systems whose communication topologies contain a spanning tree can reach synchronization with the dynamic leader, and meanwhile identify the unknown input of the dynamic leader using distributed iterative learning laws. An illustrative example is provided to verify the proposed control schemes.