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首页> 外文会议>Asian Control Conference >Data-driven Formation Control for a Class of Unknown Heterogeneous Discrete-time MIMO Multi-agent System with Switching Topology
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Data-driven Formation Control for a Class of Unknown Heterogeneous Discrete-time MIMO Multi-agent System with Switching Topology

机译：一类具有切换拓扑的未知异构MIMO多智能体系统的数据驱动编队控制

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摘要

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.
机译：本文考虑了一类带有切换拓扑的未知异构离散时间多输入多输出（MIMO）非线性多智能体系统的数据驱动的编队控制问题。为了实现该结构，提出了一种采用无模型自适应控制（MFAC）的分布式数据驱动控制算法。在不利用多智能体的数学模型的情况下，在建议的控制算法中仅使用相邻智能体的输入/输出数据和所需信号。基于代数理论和矩阵理论，借助于提出的控制算法，通过严格的演示准确地实现了构造。数值模拟表明了所获得的结果。

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