Distributed tracking control for heterogeneous multi-agent systems via data-driven parameterisation approach

The distributed tracking control problem for heterogeneous multi-agent systems with unknown system dynamics is investigated. The objective is to provide a data-driven distributed tracking control protocol that ensures tracking performance between agents and the leader. To this end, the concept of data informativity for matching conditions is introduced. Then, the data-based sufficient and necessary conditions to achieve state tracking are provided. Meanwhile, a data-driven parameterisation approach for designing the distributed tracking control protocol is given. Compared with previous results, the reference input is considered in the leader's dynamics, and the computational burden is reduced by solving a set of data-based equations and inequality constraints rather than iteration. Additionally, the developed results are still appropriate for handling the tracking control issue of the single linear system, and the current constraint that the reference system be stable is eased. Finally, two simulation examples are given to verify the proposed schemes' effectiveness.