Finite-time consensus protocols for networks of dynamic agents by terminal iterative learning |
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| Authors: | Deyuan Meng Yingmin Jia Junping Du |
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| Affiliation: | 1. The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), Beijing, P. R. China;2. Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia, School of Computer Science and Technology, Beijing University of Posts and Telecommunications, Beijing, P. R. China |
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| Abstract: | This paper aims to address finite-time consensus problems for multi-agent systems under the iterative learning control framework. Distributed iterative learning protocols are presented, which adopt the terminal laws to update the control input and are offline feedforward design approaches. It is shown that iterative learning protocols can guarantee all agents in a directed graph to reach the finite-time consensus. Furthermore, the multi-agent systems can be enabled to achieve a finite-time consensus at any desired terminal state/output if iterative learning protocols can be improved by introducing the desired terminal state/output to a portion of agents. Simulation results show that iterative learning protocols can effectively accomplish finite-time consensus objectives for both first-order and higher order multi-agent systems. |
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| Keywords: | multi-agent systems finite-time consensus iterative learning control distributed control terminal updating law directed graph |
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