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Consensus tracking via quantized iterative learning control for singular nonlinear multi-agent systems with state time-delay and initial state error

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Abstract

This paper investigates the quantized iterative learning consensus tracking problem for singular nonlinear multi-agent systems (MASs) in the presence of state time-delay and initial state error. The unified D-type quantized learning control protocols based on the initial state learning with index gain is proposed and employed for singular nonlinear MASs with state time-delay in both continuous-time domain and discrete-time domain. Based on the operator theory, the convergence condition of the consensus tracking errors between each follower agent and the leader is manifested and analyzed over a fixed time interval. Furthermore, the closed-loop D-type learning protocols are introduced to track the leader’s trajectory in order to compare the convergent rate with the variable index gain learning protocols. Finally, simulation results are applied to confirm the validity of the proposed protocols.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China [grant number 61773212]; the Natural Science Foundation of Jiangsu Province [Grant Number BK20170094]; the International Science & Technology Cooperation Program of China [Grant Number 2015DFA01710]; and the Postgraduate Research & Practice Innovation Program of Jiangsu Province [Grant Number KYCX20_0288].

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Authors and Affiliations

  1. School of Automation, Nanjing University of Science and Technology, Nanjing, 210094, Jiangsu, People’s Republic of China

    Xingyu Zhou, Haoping Wang & Yang Tian

  2. School of Electrical and Information Engineering, Guangxi University of Science and Technology, Liuzhou, 545006, Guangxi, People’s Republic of China

    Xisheng Dai

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  1. Xingyu Zhou
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Correspondence to Haoping Wang.

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Zhou, X., Wang, H., Tian, Y. et al. Consensus tracking via quantized iterative learning control for singular nonlinear multi-agent systems with state time-delay and initial state error. Nonlinear Dyn 103, 2701–2719 (2021). https://doi.org/10.1007/s11071-021-06265-x

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