Data-driven Formation Control for a Class of Unknown Heterogeneous Discrete-time MIMO Multi-agent System with Switching Topology

This paper considers a data-driven formation control problem for a class of unknown heterogenous discrete-time multi-input multi-output (MIMO) nonlinear multi-agent system with switching topology. To realise the formation, a distributed data-driven control algorithm is proposed by using the model-free adaptive control (MFAC) method. Only the inputs/outputs data of the neighbouring agents and the desired signal are used in the proposed control algorithm without utilizing the mathematical model of the multi-agents. The formation is accurately realised with rigorous demonstration by virtue of the proposed control algorithm, based on the algebraic theory and matrix theory. A numerical simulation is presented to illustrate the obtained results.