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Iterative Learning Tracking Control of Nonlinear Multiagent Systems with Input Saturation

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  • Bingyou Liu
  • Zhengzheng Zhang
  • Lichao Wang
  • Xing Li
  • Xiongfeng Deng
  • Mahardhika Pratama

Abstract

A tracking control algorithm of nonlinear multiple agents with undirected communication is studied for each multiagent system affected by external interference and input saturation. A control design scheme combining iterative learning and adaptive control is proposed to perform parameter adaptive time-varying adjustment and prove the effectiveness of the control protocol by designing Lyapunov functions. Simulation results show that the high-precision tracking control problem of the nonlinear multiagent system based on adaptive iterative learning control can be well realized even when the input is saturated. Finally, the validity of the proposed algorithm is verified by numerical analysis.

Suggested Citation

  • Bingyou Liu & Zhengzheng Zhang & Lichao Wang & Xing Li & Xiongfeng Deng & Mahardhika Pratama, 2021. "Iterative Learning Tracking Control of Nonlinear Multiagent Systems with Input Saturation," Complexity, Hindawi, vol. 2021, pages 1-13, March.
    • Handle: RePEc:hin:complx:2940218
    DOI: 10.1155/2021/2940218
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