Model-Free Adaptive Cloud Elastic Control for Small Nonlinear Agent Systems

In this paper, for unknown small nonlinear multi-agent(SNMA) systems without large computing capabilities, cloud computing technology is used to calculate control commands and achieve multi-agent consensus control. At the same time, considering the security problem of the network channel between the cloud and the agent, a model-free adaptive cloud elastic control(MFACEC) strategy was proposed. Under the MFACEC control strategy, each agent whose model is unknown is able to complete consensus tracking. Finally, simulation results show the effectiveness of the algorithm.