Iterative Learning Formation Control for Multi-agent Systems with Randomly Varying Trial Lengths

摘要

The formation control problem of iterative learning system with stochastic variable lengths is studied. In particular, we establish an iterative learning control protocol for multi-agent system with switching topology, in which a new formation state error is proposed to deal with different lengths. Using the redefined A-norm and mathematical expectation, the convergence conditions are derived. The simulation results show that the method is effective.