Iterative Control for Networked Heterogeneous Multi-Agent Systems With Uncertainties

This note addresses the convergence of iterative control for networked, heterogeneous, multi-agent systems, where each agent has potentially different dynamics and dissimilar uncertainties. The major contribution of this work is to quantify the acceptable modeling uncertainty for ensuring convergence of the proposed iterative approach for collaborative tracking. Convergence conditions are established for the case when inversion-based iterative control of each individual agent (designed separately, independent of the iterative controllers of the other agents) are conjoined using a network graph structure.