Formation iterative learning control for multi-agent systems with higher-order dynamics

This paper is devoted to solving formation problems of multi-agent systems with higher-order dynamics. By using the iterative learning control (ILC) approaches, effective distributed algorithms are developed to enable all agents in directed graphs to achieve the desired relative formations perfectly over a finite-time interval. It is shown that the graph theory can be combined to develop conditions for both asymptotic stability and monotonic convergence of multi-agent formation ILC. Simulation results are finally given to verify our theoretical study.