Controller-Dynamic-Linearization-Based Distributed Model-Free Adaptive Control for Nonlinear Multiagent Systems

The leaderless or leader-following consensus tracking, along with containment control problems of nonlinear multiagent systems (MASs) using controller-dynamic-linearization-based distributed model-free adaptive control (CDL-DMFAC) method are addressed in this article. By virtue of dynamic linearization (DL) technology, the distributed output and ideal controller of MASs are first converted to the corresponding equivalent DL data models, respectively. Then, a pure data-based CDL-DMFAC scheme is uniformly constructed by employing I/O data regardless of the state space model of MASs. The convergence analysis is rigorously proved by a designed data energy function without using global topology graph information. Furthermore, the control strategy and convergence result are extended to acrlong MIMO MASs. Finally, extensive simulations are performed to verify the validity of theoretical results.