Data Driven Consensus Control for Multi-Agent Systems with Disturbance

Consensus of second order linear Multi-Agent Systems(MASs) under random disturbance is investigated Data Driven Control(DDC). Under the structure of unidirectional topology, the linear second-order system with disturbance is regarded as a complex nonlinear system, so the control protocol is designed by dynamic linearization of nonlinear system into pseudo partial derivative form. Using the leader and followers architecture, a consensus control protocol based on Model Free Adaptive Control(MFAC) from the leader to the followers is designed. The stability and formation performance of the MASs are proved. Finally, the numerical simulations are presented and demonstrate the correctness of the obtained results.