{"id":"https://openalex.org/W3153465228","doi":"https://doi.org/10.1109/tnnls.2021.3071413","title":"Consensus Control for Heterogeneous Multivehicle Systems: An Iterative Learning Approach","display_name":"Consensus Control for Heterogeneous Multivehicle Systems: An Iterative Learning Approach","publication_year":2021,"publication_date":"2021-04-15","ids":{"openalex":"https://openalex.org/W3153465228","doi":"https://doi.org/10.1109/tnnls.2021.3071413","mag":"3153465228","pmid":"https://pubmed.ncbi.nlm.nih.gov/33857003"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2021.3071413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3071413","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100699726","display_name":"Shuyuan Zhang","orcid":"https://orcid.org/0000-0001-5218-2668"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyuan Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","Shenyuan Honors College, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Shenyuan Honors College, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100435995","display_name":"Lei Wang","orcid":"https://orcid.org/0000-0002-7014-2149"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7014-2149","affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042308134","display_name":"Haihui Wang","orcid":"https://orcid.org/0000-0001-6345-0349"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haihui Wang","raw_affiliation_strings":["School of Mathematical Sciences, Beihang University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100781916","display_name":"Xue Bai","orcid":"https://orcid.org/0000-0001-9717-846X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bai Xue","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-9717-846X","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210128818","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1937,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.91818622,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"32","issue":"12","first_page":"5356","last_page":"5368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9642000198364258,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8606444597244263},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7080894112586975},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6915980577468872},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.6133084893226624},{"id":"https://openalex.org/keywords/interval","display_name":"Interval (graph theory)","score":0.5441693663597107},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5137268304824829},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5108108520507812},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.47448280453681946},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.46528759598731995},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.45720985531806946},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.4564809799194336},{"id":"https://openalex.org/keywords/ideal","display_name":"Ideal (ethics)","score":0.4311137795448303},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.42880046367645264},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41841864585876465},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4077587127685547},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4042205810546875},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.38636091351509094},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22710034251213074},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17358800768852234},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.11122488975524902}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8606444597244263},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7080894112586975},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6915980577468872},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.6133084893226624},{"id":"https://openalex.org/C2778067643","wikidata":"https://www.wikidata.org/wiki/Q166507","display_name":"Interval (graph theory)","level":2,"score":0.5441693663597107},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5137268304824829},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5108108520507812},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.47448280453681946},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.46528759598731995},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.45720985531806946},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.4564809799194336},{"id":"https://openalex.org/C2776639384","wikidata":"https://www.wikidata.org/wiki/Q840396","display_name":"Ideal (ethics)","level":2,"score":0.4311137795448303},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.42880046367645264},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41841864585876465},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4077587127685547},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4042205810546875},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.38636091351509094},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22710034251213074},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17358800768852234},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.11122488975524902},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2021.3071413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3071413","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:33857003","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33857003","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G130015549","display_name":"\u65f6\u6ede\u52a8\u529b\u7cfb\u7edf\u53ca\u6df7\u6210\u7cfb\u7edf\u7684\u5f62\u5f0f\u5316\u9a8c\u8bc1","funder_award_id":"61872341","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3219187101","display_name":null,"funder_award_id":"Z180005","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G6350436472","display_name":"\u5f02\u8d28\u590d\u6742\u975e\u8017\u6563\u8026\u5408\u7f51\u7edc\u7684\u540c\u6b65\u884c\u4e3a\u523b\u753b\u548c\u5206\u6790\u7814\u7a76","funder_award_id":"61873017","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7097245526","display_name":"\u7c7b\u4eba\u4efb\u52a1\u89c4\u5212\u3001\u63a8\u7406\u53ca\u5176\u9a8c\u8bc1\u7cfb\u7edf\u7684\u7814\u7a76\u548c\u5e94\u7528","funder_award_id":"61836005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1124303512","https://openalex.org/W1488435683","https://openalex.org/W1513522493","https://openalex.org/W1522710903","https://openalex.org/W1541270173","https://openalex.org/W1970786657","https://openalex.org/W1971848727","https://openalex.org/W1972028324","https://openalex.org/W1974534430","https://openalex.org/W1978132363","https://openalex.org/W1978631282","https://openalex.org/W1982469113","https://openalex.org/W1990624933","https://openalex.org/W2032218247","https://openalex.org/W2032415053","https://openalex.org/W2038924143","https://openalex.org/W2041242313","https://openalex.org/W2052208858","https://openalex.org/W2053737530","https://openalex.org/W2058533888","https://openalex.org/W2059529072","https://openalex.org/W2095378155","https://openalex.org/W2098141095","https://openalex.org/W2099175737","https://openalex.org/W2099660631","https://openalex.org/W2105850748","https://openalex.org/W2114871659","https://openalex.org/W2128928412","https://openalex.org/W2131164291","https://openalex.org/W2138099152","https://openalex.org/W2142577269","https://openalex.org/W2145554346","https://openalex.org/W2146890818","https://openalex.org/W2154529221","https://openalex.org/W2159038290","https://openalex.org/W2165744313","https://openalex.org/W2166833517","https://openalex.org/W2175405015","https://openalex.org/W2227410585","https://openalex.org/W2343912161","https://openalex.org/W2442797103","https://openalex.org/W2474469493","https://openalex.org/W2528222162","https://openalex.org/W2536620281","https://openalex.org/W2548855981","https://openalex.org/W2595826919","https://openalex.org/W2747905720","https://openalex.org/W2776622988","https://openalex.org/W2780129249","https://openalex.org/W2801067643","https://openalex.org/W2904574225","https://openalex.org/W2928811382","https://openalex.org/W2949235991","https://openalex.org/W2992797462","https://openalex.org/W2993758341","https://openalex.org/W2998713437","https://openalex.org/W3005135630","https://openalex.org/W3036048687","https://openalex.org/W4226503072","https://openalex.org/W4238591275","https://openalex.org/W6684294107"],"related_works":["https://openalex.org/W3193839744","https://openalex.org/W2075497702","https://openalex.org/W2509134443","https://openalex.org/W2980831244","https://openalex.org/W1598820299","https://openalex.org/W2946379666","https://openalex.org/W2552322538","https://openalex.org/W2517761895","https://openalex.org/W2292721517","https://openalex.org/W2033417366"],"abstract_inverted_index":{"This":[0],"article":[1],"investigates":[2],"the":[3,8,74,85,97,139,142,151,159],"consensus":[4,46],"tracking":[5,145],"problem":[6],"of":[7,33,150,161],"heterogeneous":[9],"multivehicle":[10],"systems":[11,99],"(MVSs)":[12],"under":[13],"a":[14,19,79,155],"repeatable":[15],"control":[16,23],"environment.":[17],"First,":[18],"unified":[20],"iterative":[21],"learning":[22,127],"(ILC)":[24],"algorithm":[25],"is":[26,35,146],"presented":[27],"for":[28,48],"all":[29,68,103],"autonomous":[30],"vehicles,":[31],"each":[32],"which":[34],"governed":[36],"by":[37],"both":[38],"discrete-":[39],"and":[40,53,84,120],"continuous-time":[41,98],"nonlinear":[42],"dynamics.":[43],"Then,":[44],"several":[45],"criteria":[47],"MVSs":[49],"with":[50,96],"switching":[51],"topology":[52],"external":[54],"disturbances":[55],"are":[56],"established":[57],"based":[58],"on":[59],"our":[60,162],"proposed":[61],"distributed":[62,124],"ILC":[63],"protocols.":[64],"For":[65],"discrete-time":[66],"systems,":[67],"vehicles":[69,104,131],"can":[70,132],"perfectly":[71],"track":[72],"to":[73,138],"common":[75],"reference":[76],"trajectory":[77],"over":[78],"specified":[80],"finite":[81,143],"time":[82,144],"interval,":[83],"corresponding":[86],"digraphs":[87],"may":[88],"not":[89],"have":[90,105],"spanning":[91],"trees.":[92],"Existing":[93],"approaches":[94],"dealing":[95],"generally":[100],"require":[101],"that":[102,130,141],"strictly":[106],"identical":[107],"initial":[108,125,135,152],"conditions,":[109],"being":[110],"too":[111],"ideal":[112],"in":[113],"practice.":[114],"We":[115],"relax":[116],"this":[117],"unpractical":[118],"assumption":[119],"propose":[121],"an":[122],"extra":[123],"state":[126],"protocol":[128],"such":[129],"take":[133],"different":[134],"states,":[136],"leading":[137],"fact":[140],"achieved":[147],"ultimately":[148],"regardless":[149],"errors.":[153],"Finally,":[154],"numerical":[156],"example":[157],"demonstrates":[158],"effectiveness":[160],"theoretical":[163],"results.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
