Distributed point-to-point iterative learning control for multi-agent systems with quantization

Abstract

For multi-agent system (MAS), most of existing iterative learning control (ILC) algorithms consider about the tracking of reference defined over the whole trial interval, while the point-to-point (P2P) task, where the emphasis is placed on the tracking of intermediate time points, has not been explored. Thus, a distributed ILC method is proposed, in which each agent updates the feedforward control input by learning from the experience of itself and its neighbors in previous repeated tasks to achieve the goal of improving performance. In addition, for the sake of reducing the burden of data transmission in MAS, effective data quantization is essential. In this case, the quantitative measurement of the error of the tracking time points is further used in the ILC updating law. In order to accommodate this requirement, a distributed point-to-point iterative learning control (P2PILC) with tracking error quantization for MAS is first proposed in this paper. A necessary and sufficient condition is presented for the asymptotical stability of the proposed algorithm, and simulation results show the effectiveness of it finally.