Based on the model‐free adaptive control, the distributed formation control problem is investigated for a class of unknown heterogeneous nonlinear discrete‐time multiagent systems with bounded disturbance. Two equivalent data models to the unknown multiagent systems are established through the dynamic linearization technique considering the circumstances with measurable and unmeasurable disturbances. Based on the obtained data models, two distributed controllers are designed with only using the input/output and disturbance data of the neighbor agents system. The tracking error of the closed‐loop system driven by the proposed controllers is shown to be bounded by the contraction mapping principle and inductive methods. An example illustrates the effectiveness of the proposed two distributed controllers.

中文翻译：

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有界扰动的未知多输入多输出非线性异构离散多主体系统的无模型自适应编队控制

基于无模型自适应控制，研究了一类带界扰动的未知异构非线性离散时间多主体系统的分布式编队控制问题。考虑到具有可测量和不可测量干扰的情况，通过动态线性化技术建立了未知多智能体系统的两个等效数据模型。基于获得的数据模型，仅使用邻居代理系统的输入/输出和干扰数据来设计两个分布式控制器。所提出的控制器驱动的闭环系统的跟踪误差表明受收缩映射原理和归纳方法的限制。一个例子说明了所提出的两个分布式控制器的有效性。