Iterative learning based consensus control for distributed parameter type multi-agent differential inclusion systems with time-delay[Formula presented]

This paper investigates consensus control problem for a class of distributed parameter type multi-agent differential inclusion systems with state time-delay by utilizing iterative learning control (ILC). Unlike most ILC literature of nonlinear distributed parameter systems that require an identical virtual leader, the virtual leader is iteratively varying in this work and can be described by any follower agent. Both P-type closed-loop and D-type open-loop ILC are proposed for the distributed parameter type multi-agent differential inclusion systems, which enable the output trajectories of each agent to achieve consensus in the sense of W1,2 norm as the iteration number increases. Meanwhile, consensus control theorems for these protocols are established by using Steiner-type selector, Green's formulas and some technical inequalities. Finally, numerical simulations testify the validity of the proposed methods. © 2022 Elsevier Ltd