Fully distributed adaptive iterative learning control of multi-agent systems with second-order nonlinear dynamics

This paper investigates the distributed coordination problem for leader-follower multi-agent systems with second-order nonlinear dynamics by using adaptive iterative learning control. It is assumed that the state information of the leader is only available to a portion of the follower agents and the bounded input of the leader is unavailable to any follower agent. Without using any global information, a fully distributed adaptive iterative learning protocol with distributed adaptive learning laws for the control gains is designed in this article, under which consensus is reached for all undirected connected communication graph. Finally, the simulation example is given to illustrate the theoretical analysis.