Iterative learning control algorithm of consensus for discrete-time heterogeneous multi-agent systems with independent topologies

In this paper, leader-follower consensus problems of a kind of discrete-time heterogeneous multi-agent systems(MASs) with independent topologies are studied by using iterative learning control(ILC) in a repeatable control environment. The heterogeneous multi-agent systems are composed of second-order and first-order dynamic systems, and independent topology refers to the topological structure of velocity and position is different. An iterative learning control algorithm is proposed to solve the exact consensus of discrete-time heterogeneous multi-agent systems with independent topology. A necessary and sufficient condition of the consensus is also given for the MASs. Finally, the simulation example proves the effectiveness of the iterative learning control algorithm.