Coordination control of multi-agent systems with second-order nonlinear dynamics using fully distributed adaptive iterative learning

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 paper, under which consensus is reached for all undirected connected communication graph. Furthermore, as an extension of the former result, the formation problem is studied. Finally, simulation examples are given to illustrate the theoretical analysis.