Abstract
This paper investigates the consensus problem of the second-order nonlinear multi-agent systems (MAS) with unknown periodic time-varying parameters (UPTVP) and imprecise communication topology structure (ICTS). T–S fuzzy models is used to express the ICTS, and the concept of fuzzy union connected (FUC) is defined. Under the condition that the ICTS is FUC, an adaptive repetitive learning control protocol is presented such that all the followers can track the leader asymptotically. With the information of leader agent is known to a small portion of following agents, an auxiliary control term was presented for each follower agent to handle leaders dynamics. The distributed MAS consensus is analyzed based on the Lyapunov stability theory. Furthermore, the proposed protocol is further promoted to solve the formation control problem. Finally, simulation results are shown to demonstrate the validity of the proposed design methods in this paper.
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