Consensus Tracking of Linear Multi-agent Systems Via Iterative Learning Control with Feedback Time-Delay

In this paper, we propose a proportional differential (PD) type iterative learning control (ILC) algorithm with feedback time-delay for the consensus tracking of multi-agent systems. The communication topology graph contains a spanning tree with the leader being its root. Using graph theory and operator theory, convergence condition is obtained. The result of the convergence analysis ensures that the agents follow the reference trajectory perfectly. Simulations show that the proposed algorithm has faster convergence speed than PD type ILC algorithm.