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Iterative learning approach for consensus tracking of partial difference multi-agent systems with control delay under

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Summary

This study addresses consensus tracking in multi-agent systems (MASs) with switching topologies and delays. A novel D-type iterative learning protocol ensures consensus tracking errors converge to zero for improved system coordination.

Keywords:
Control delayD-type iterative learning approachMulti-agent systemsPartial difference equationsSwitching topology

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Area of Science:

  • Control Theory
  • Systems Science
  • Robotics

Background:

  • Investigates consensus tracking in linear and nonlinear partial difference multi-agent systems (MASs).
  • Addresses challenges of switching communication topology and control delays.
  • Considers spatio-temporal discretization and initial state deviation.

Purpose of the Study:

  • To design a discrete distributed consensus protocol for MASs with initial value learning.
  • To ensure consensus tracking control is achievable under switching communication topologies.
  • To analyze the convergence of consensus tracking errors.

Main Methods:

  • Employs a D-type iterative learning approach for designing a discrete distributed consensus protocol.
  • Utilizes relative local measurements of neighboring followers.
  • Performs rigorous mathematical theoretical analysis to derive necessary and sufficient conditions.

Main Results:

  • Obtained necessary and sufficient conditions for successful consensus tracking under switching topologies.
  • Demonstrated that consensus tracking errors converge to zero in the L² norm along the iteration axis.
  • Validated the protocol's effectiveness through simulation examples.

Conclusions:

  • The proposed D-type iterative learning protocol effectively solves the consensus tracking problem for MASs with switching topologies and control delays.
  • The theoretical conditions derived guarantee the convergence of consensus tracking errors.
  • Simulation results confirm the practical validity of the developed protocol and theoretical findings.