This paper mainly explores the consensus control of multi-agent robot system with repetitive motion under the constraints of a leader and fixed topology. To realize the consensus control, a fractional order iterative learning control (FOILC) algorithm was designed under the mode of distributed open-closed-loop proportional-derivative alpha (PDα). The uniform convergence of the algorithm in finite time was discussed, drawing on factional calculus, graph theory, and norm theory, resulting in the convergence conditions. Theoretical analysis shows that, with the growing number of iterations, each agent can choose the appropriate gain matrix, and complete the tracking task in finite time. The effectiveness of the proposed method was verified through simulation.
Abstract-In order to avoid the shortcoming of reconstituted tobacco and the natural tobacco mixed producing method, and adapted to the new cigarette technology, with the designing of the production line's 3 layer network structure and research on realizing method of each layer, the production line based on industry control network was built. The results show that the production line's capacity reaches the level of 2000kg/H, and the goal of controlling the percentage of moisture of final product between 12%-13%. Through analyzing the experiment results, the industrial control network performance is verified.
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