This paper presents an iterative learning control (ILC) based method for trading off both individual and formation tracking for multiple agents with heterogeneous dynamics. The proposed framework provides precise trajectory tracking for systems involving repetitive, cooperative motion. The frequency domain based controller has the capability of being able to shift weighting between the desire for precise formations amongst the agents and precise trajectory tracking for each individual agent. Stability and convergence conditions are shown and the proposed controller is validated through simulations.

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