Nonrepetitive leader-follower formation tracking for multiagent systems with LOS range and angle constraints using iterative learning control

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80 Scopus citations

Abstract

In this paper, we present a novel iterative learning control (ILC) algorithm for the leader-follower formation tracking problem of a class of nonlinear multiagent systems that are subject to actuator faults. Unlike most ILC works that require identical reference trajectories over the iteration domain, the desired line-of-sight (LOS) range and angle profiles can be iteration dependent based on different tasks and environment in each iteration. Furthermore, the LOS range and angle tracking errors are subject to iteration and time dependent constraint requirements. Both parametric and nonparametric system unknowns and uncertainties, in particular the control input gain functions that are not fully known, are considered. We show that under the proposed algorithm, the formation tracking errors can converge to zero uniformly over the iteration domain beyond a certain time interval in each iteration, while the constraint requirements on the LOS range and angle will not be violated during operations. A numerical simulation involving two agents in leader-follower formation is presented in the end to demonstrate the efficacy of the proposed algorithm.

Original languageEnglish
Article number8329564
Pages (from-to)1748-1758
Number of pages11
JournalIEEE Transactions on Cybernetics
Volume49
Issue number5
DOIs
StatePublished - May 2019

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

  • Actuator faults
  • Iterative learning control (ILC)
  • Leader-follower formation tracking
  • Multiagent systems
  • System constraints

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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