Iterative learning control for one-sided Lipschtiz nonlinear multi-agent systems with Time-delay

This paper considers a tracking problem based on iterative learning control for a class of one-sided Lipschitz nonlinear multi-agent systems with time-delay. Here, communication between followers is described in a directed graph, and only a portion of followers can receive information from the leader. An iterative learning control algorithm is proposed for this kind of multi-agent systems. On this basis, the convergence conditions of the algorithm are given and analyzed. The main contribution of this study is to extend the iterative learning control theory to one-sided Lipschitz multi-agent systems. The results show that the algorithm can ensure that the follower's output converges to the leader's path along the iterative axis in the finite time interval. Finally, a simulation example is given to illustrate the effectiveness of the proposed learning algorithm.