Distributed MIMO MFAC-based consensus tracking strategy for multiagent systems with fixed and switching topologies

Abstract

In this research, the MIMO model-free-adaptive-control-based (MFAC-based) consensus tracking scheme for multiagent systems (MASs) has been proposed. The unknown system model of each agent is constructed by the compact form dynamic linearisation (CFDL) technique. The agents can receive the information from their neighbours, and only some agents, not all agents, can obtain the reference trajectory. Firstly, the distributed MIMO MFAC-based consensus tracking strategy for each follower agent with fixed communication topology is proposed. The proof of tracking convergence for this control strategy indicates that each agent can follow the reference trajectory. Then, we prove the MFAC-based consensus tracking scheme can be also applied to the MASs with switching topologies. Compared with prior work, the main features of this paper are that the dynamic models of agents are built only using real-time input/output data, and the MFAC-based consensus strategy can be utilised for MIMO MASs with switching topologies. Finally, two numerical simulations are provided to verify the merits and feasibility of the consensus strategy for MASs with fixed and switching topologies, respectively.