A tracking control algorithm of nonlinear multiple agents with undirected communication is studied for each multiagent system affected by external interference and input saturation. A control design scheme combining iterative learning and adaptive control is proposed to perform parameter adaptive time-varying adjustment and prove the effectiveness of the control protocol by designing Lyapunov functions. Simulation results show that the high-precision tracking control problem of the nonlinear multiagent system based on adaptive iterative learning control can be well realized even when the input is saturated. Finally, the validity of the proposed algorithm is verified by numerical analysis.
This study addresses the problems of formation control and obstacle avoidance for a class of second-order multiagent systems with directed topology. Formation and velocity control laws are designed to solve the formation tracking problem. A new obstacle avoidance control law is also proposed to avoid obstacles. Then, the consensus control protocol consists of the formation, velocity, and obstacle avoidance control laws. The convergence of the proposed control protocol is analyzed by a redesigned Lyapunov function. Finally, the effectiveness of theoretical results is illustrated by simulation examples. The simulation results show that the formation tracking problem of the given multiagent systems can be realized and obstacles can be avoided under the proposed control protocol.
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