This book mainly focuses on the design and implementation of iterative learning control methods for multi-agent systems. Centering on various types of nonlinear multi-agent systems, it combines iterative learning methods to respectively design corresponding iterative learning control laws, achieving cooperative tracking control. Chapter 1 of this book provides an overview of the research status of multi-agent system control and iterative control methods. Chapter 2 summarizes the basic knowledge required for the application in this book. Chapters 3 to 10 conduct in-depth research and discussion on the control problems of nonlinear multi-agent systems from multiple perspectives, including uncertain dynamics, unknown gains, state delays, control delays, input constraints, signal quantization, data packet losses, and heterogeneous multi-agent systems.