Distributed learning control for heterogeneous linear multi-agent networks

This paper deals with cooperative output tracking problems for heterogeneous networks of linear agents. To refine high-precision tracking performances of agents, a graph-based distributed learning control (DLC) law is proposed, for which a new bounded-initialization, bounded-updating (BIBU) stability property is explored under any bounded initial conditions. Moreover, a class of heterogeneous-to-homogeneous transformation methods is introduced, together with presenting feasible gain design conditions, for DLC. It is shown that with the designed DLC law, not only can the effect of the agents’ heterogeneous dynamics in performing DLC be well overcome, but also the BIBU stability and the robust cooperative output tracking of agents can be simultaneously accomplished. A simulation test is also implemented to verify the validity of our developed DLC results for heterogeneous vehicle networks.