Open-loop and closed-loop D^(α)-type iterative learning control for fractional-order linear multi-agent systems with state-delays  

作　　者：LI Bingqiang LAN Tianyi ZHAO Yiyun LYU Shuaishuai 

机构地区：[1]School of Automation,Northwestern Polytechnical University,Xi’an 710129,China [2]School of Electrical and Control Engineering,Shaanxi University of Science and Technology,Xi’an 710021,China [3]College of Electronics and Information,Hangzhou Dianzi University,Hangzhou 310018,China

出　　处：《Journal of Systems Engineering and Electronics》2021年第1期197-208,共12页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(51777170);the Natural Science Basic Research Plan in Shaanxi Province of China(2020JM-151);the Fundamental Research Funds for the Central Universities(3102020ZX006)。

摘　　要：This study focuses on implementing consensus tracking using both open-loop and closed-loop Dα-type iterative learning control(ILC)schemes,for fractional-order multi-agent systems(FOMASs)with state-delays.The desired trajectory is constructed by introducing a virtual leader,and the fixed communication topology is considered and only a subset of followers can access the desired trajectory.For each control scheme,one controller is designed for one agent individually.According to the tracking error between the agent and the virtual leader,and the tracking errors between the agent and neighboring agents during the last iteration(for open-loop scheme)or the current running(for closed-loop scheme),each controller continuously corrects the last control law by a combination of communication weights in the topology to obtain the ideal control law.Through the rigorous analysis,sufficient conditions for both control schemes are established to ensure that all agents can achieve the asymptotically consistent output along the iteration axis within a finite-time interval.Sufficient numerical simulation results demonstrate the effectiveness of the control schemes,and provide some meaningful comparison results.

关 键 词：multi-agent system FRACTIONAL-ORDER consensus control iterative learning control virtual leader STATE-DELAY 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]