Adaptive Iterative Learning Control of Multiple Autonomous Vehicles with a Time-Varying Reference under Actuator Faults

In this article, a distributed adaptive iterative learning control for a group of uncertain autonomous vehicles with a time-varying reference is presented, where the autonomous vehicles are underactuated with parametric uncertainties, the actuators are subject to faults, and the control gains are not fully known. A time-varying reference is adopted, the assumption that the trajectory of the leader is linearly parameterized with some known functions is relaxed, and the control inputs are smooth. To design distributed control scheme for each vehicle, a local compensatory variable is generated based on information collected from its neighbors. The composite energy function is used in stability analysis. It is shown that uniform convergence of consensus errors is guaranteed. An illustrative example is given to demonstrate the effectiveness of the proposed control scheme.