Formation Tracking via Iterative Learning Control for Multiagent Systems with Diverse Communication Time-Delays

<div>Convergence of formation tracking errors via second-order ILC for multiagent system with communication time-delays and via first-order ILC for multiagent system without communication time-delays. (a) Case 1. (b) Case 2.</div>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Formation Tracking via Iterative Learning Control for Multiagent Systems with Diverse Communication Time-Delays 