An ILC method of formation control for multi-agent system with one-step random time-delay

In this paper, we consider iterative learning control(ILC) for discrete-time multi-agent system formation with one-step random time-delay. Random delays during transmission seriously affect the convergence performance of multi-agent formation. Based on one-step random time-delay model, the transition matrix of system is derived, which contains the impact factors of random delays. A learning control scheme is proposed and the convergence of system tracking errors is guaranteed. Simulation results show that the convergence rate is reduced when the probabilities of time-delay are getting higher.