Iterative Learning Consensus Tracking Control For Distributed Parameter Multi-Agent Systems

Multi-agent systems(MASs)are complex network computing systems composed of multiple agents,which can implement complex specific tasks that cannot be handled by a single agent system.In recent years,MASs and related research results have been widely used in many fields such as sensor networks,multi-UAV formation cooperation,and intelligent manufacturing.The key problem of consensus tracking is to find a suitable control strategy when information is exchanged between all the agents in MASs,so that all the agents in the system tend to be consistent in certain state quantities(speed,position,etc.).Combining MASs with spatio-temporal(space and time)evolution characteristics,we studied the distributed parameter MASs described by partial differential equations(PDEs).It takes into account the two variables of the time and space of the agent in the system.Iterative learning control(ILC)is one of the branches of intelligent control.It does not depend on the accurate model of the system.It is suitable for the control MASs that performs repetitive tasks.In this paper,the consensus tracking control problem of distributed parameter MASs for several different models are studied.The corresponding ILC algorithm is designed,and the convergence condition of the system is obtained through analysis and proof of strict mathematical theory,and the corresponding simulation examples are not used to verify it.This article includes the following three sections:1.For a class of distributed parameter MASs with disturbances,a P-type ILC law is designed.Under the condition that the initial value of the agent is not zero,the convergence of the consensus tracking error is given.Finally,the numerical simulation is an example to obtain the effectiveness of the algorithm for the system.2.Considering a class of continuous distributed parameter MASs with state delays,the consensus tracking control of the system under linear and nonlinear conditions is studied.A ILC algorithm with virtual leader tracking error is designed.The algorithm is verified by rigorous mathematical proof.Finally,the numerical simulation is an example to obtain the effectiveness of the modified algorithm in the state of the system.3.The problem of consensus tracking control for a class of MASs with spatial and temporal discrete distribution parameters is studied.Under the condition of linear and nonlinear systems,the convergence-based ILC algorithm is designed by using the information transfer characteristics between adjacent agents.