On iterative learning control for synchronization of MIMO heterogeneous systems

This work addresses a leader-follower synchronization problem of a group of agents whose dynamics are represented by general nonlinear multi-input multi-output (MIMO) equations. The group of agents can be non-identical, and their dynamics contain both parametric and lumped nonparametric uncertainties. A distributed adaptive and robust iterative learning control (ILC) algorithm is proposed. It is shown that under appropriate conditions, the proposed ILC algorithm can synchronize the trajectories of all followers to the desired one even only a few followers are able to access the trajectory of the leader. Simulation study supports the theoretical developments.