Coordinated Exactly Consensus of Multi-agent Systems under Different Topologies of Position and Velocity
The paper proposes a coordinated iterative learning control protocol for a class of second-order leader-follower nonlinear multi-agent system under the different states commu-nication graphs,a sufficient condition of the exact consensus on a finite time interval for the multi-agent system is also given.Furthermore,the proposed scheme is extended to solve the exact formation control problem on a finite time interval for the multi-agent system.The proto-cols can reduce the communication cost.The efficiency of the proposed methods are illustrated by two simulation examples.The results show that the MAS could obtain the exact consensus and form a desired formation on the finite-time interval under the conditions that the topology of the velocity is connected although the topology of the position is not necessary connected,the communication requirement is relaxed.It provides an efficient approach in the unmanned aerial vehicles formation problem.
second-order multi-agent systemindependent position and velocity communica-tion graphcooperative iterative learningexact consensus
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