@inproceedings{a8b9373fe14a423bb1f30d24cfec7b61,
title = "ILC-motivated formation algorithm for multi-agent systems with communication time-delays",
abstract = "In this paper, a high-precision formation control problem is addressed for multi-agent systems in the presence of switching topologies and communication time-delays. All agents are aimed at achieving the desired relative formation between each other over a finite-time interval which can be specified. Based on the nearest neighbor interaction rule, a cooperative iterative learning control (ILC) algorithm is proposed. It is shown that the resulting cooperative ILC process of multi-agent formation systems converges exponentially fast if and only if the union of interaction digraphs (without being affected by communication time-delays) jointly has a spanning tree for each time step along the iteration axis. In particular, if there exists a time-varying reference trajectory for a portion of agents, then not only can the relative formation between agents be guaranteed but also the formation shape can be regularized simultaneously.",
keywords = "Communication Time-Delays, Iterative Learning Control, Multi-Agent Systems, Relative Formation, Switching Topologies",
author = "Deyuan Meng and Mingjun Du",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7553834",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "3099--3104",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "美国",
}