We address the consensus control problem of time-varying delayed multiagent systems with directed communication topology.\nThe model of each agent includes time-varying nonlinear dynamic and external disturbance, where the time-varying nonlinear\nterm satisfies the global Lipschitz condition and the disturbance term satisfies norm-bounded condition. An improved control\nprotocol, that is, a high-order iterative learning control scheme, is applied to cope with consensus tracking problem, where the\ndesired trajectory is generated by a virtual leader agent. Through theoretical analysis, the improved control protocol guarantees\nthat the tracking errors converge asymptotically to a sufficiently small interval under the given convergence conditions.\nFurthermore, the bounds of initial state difference and disturbances tend to zero; the bound of tracking errors also tends to zero.\nIn the end, some cases are provided to illustrate the effectiveness of the theoretical analysis.
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