文章基本信息

标题：Adaptive Learning Control for Second-Order Nonlinear Multi-Agent Systems with Iteration-Switching Topologies ⁎
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作者：Chen Liu ; Dong Shen ; Xuhui Bu 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：24
页码：129-134
DOI：10.1016/j.ifacol.2019.12.394
语种：English
出版社：Elsevier
摘要：This paper investigates the consensus tracking problem for the leader-follower second-order uncertain nonlinear multi-agent systems with nonrepeatable mismatched input disturbance. The main structure of the proposed adaptive iterative learning controller contains a neural networks learning component and a robust learning component. The effect of the neural networks learning component is to estimate the system’s nonlinearity and the robust learning component is to suppress the nonlinear input gain and disturbance. An adaptive law combining time- and iteration- domain is used to tune the controller parameters. We use the composite energy function method to prove the consensus convergence and give a numerical simulation to illustrate the effectiveness of the proposed scheme.
关键词：KeywordsMulti-Agent SystemsNeural NetworksIterative Learning ControlComposite Energy FunctionNonlinear System