Consensus Control of Robot Fractional-Order MAS Based on FOILC with Time Delay

In this paper, we investigate the finite-time consensus problem of a fractional-order multi-agent system with repetitive motion. The system under consideration consists of robotic agents with a leader and a fixed communication topology. A distributed open-closed-loop PDα fractional-order iterative learning control (FOILC) algorithm is proposed. The finite-time uniform convergence of the proposed algorithm is analyzed, and sufficient convergence conditions are derived. The theoretical analysis demonstrates that, as the number of iterations increases, each agent can achieve complete tracking within a finite time by appropriately selecting the gain matrices. Simulation results are presented to verify the effectiveness of the proposed method.