Model-Free Adaptive Learning Formation Control of Nonlinear Non-Affine Multi-Agent Systems*

In this paper we consider the distributed leader-follower formation tracking problem of unknown nonlinear non-affine discrete-time repetitive multi-agent systems. The leader agent only communicates information to a subset of the follower agents and the follower agent exchanges information only with its neighbors in a directed graph. With the dynamic linearization technique in the iteration domain, a systematic way is provided for constructing a distributed formation control law, which is independent of the physical model of the multiagent system. A distributed iterative learning control approach is designed for formation tracking using only the local measurements. The convergence of the proposed scheme is rigorously established for the controlled multi-agent system in the case of iteration-varying topologies. An illustrative example is applied to demonstrate the effectiveness of the proposed scheme.