Data-Based Output Containment of Completely Heterogeneous Multi-Agent Systems With Unknown Dynamics and Its Application

In this paper, a data-based containment control method is proposed for multi-agent systems where the system parameters of both leaders and followers are heterogeneous and unknown. Based on the collected data from the leader systems, the least square method is first utilized to identify the parameters of the leaders. Then, the data-based adaptive distributed compensator is designed for each follower to estimate the system parameters and the states of the heterogeneous leaders. Meanwhile, the collected data from follower systems is used to construct the local observer and establish the data-based linear matrix inequalities to determine the observer gains and feedback gains. On the basis of the collected data from leader and follower systems, the data-based adaptive solutions to the output regulation equations are provided. Furthermore, the data-based containment control protocols are designed to realize that the outputs of the followers converge to the convex hull formed by the unknown heterogeneous leaders. Finally, the effectiveness of the proposed data-based control scheme is illustrated by the simulation of the numerical example and the interconnecting RLC circuits.