Abstract: The paper proposes a coordinated iterative learning control protocol for a class of second-order leader-follower nonlinear multi-agent system under the different states communication graphs, a sufficient condition of the exact consensus on a finite time interval for the multi-agent system is also given. Furthermore, the proposed scheme is extended to solve the exact formation control problem on a finite time interval for the multi-agent system. The protocols can reduce the communication cost. The efficiency of the proposed methods are illustrated by two simulation examples. The results show that the MAS could obtain the exact consensus and form a desired formation on the finite-time interval under the conditions that the topology of the velocity is connected although the topology of the position is not necessary connected, the communication requirement is relaxed. It provides an efficient approach in the unmanned aerial vehicles formation problem.

Key words: second-order multi-agent system, independent position and velocity communication graph, cooperative iterative learning, exact consensus