Consensus control of unknown nonlinear discrete-time multi-agent systems with nonuniform time-delays

This note investigates the data-driven consensus control for a class of unknown heterogeneous nonlinear multi-agent systems (MASs) with non-uniform communication delay by using model-free adaptive control (MFAC) method. The designed controller is distributed and data-driven without using any model information. The consensus of the multi-agent system is rigorously presented based on the proposed control protocol. The effectiveness of the proposed algorithm is test by the simulation of two different topologies.