Iterative Learning Control for Leader-following Consensus of Nonlinear Multi-agent Systems with Packet Dropout

摘要

In this paper, the consensus problem of leader-following nonlinear multi-agent systems with packet dropout is addressed. The iterative learning control method is applied to design the control protocol. Then, a distributed control protocol is presented, and a sufficient condition is derived. In addition, the Bernoulli distribution process is introduced to model the packet dropout case, where the dropout rate is converted into a stochastic parameter. The convergence of proposed control protocol is analyzed by norm theory. It is proved that, when there exists the packet dropout, the output of all the following agents can track the trajectory of leader under the proposed control protocol. Finally, two examples are provided to illustrate the validity of the theoretical analysis.