A Full-Form Dynamic Linearization Data Model-Based Model-Free Adaptive Formation Control Method for Nonlinear Multi-agents

This paper addresses the model-free adaptive formation control (MFAFC) problem of the nonlinear multiagent system. First, the standardized formation tracking error is designed to fit the controller design framework of the model-free adaptive control. Then, the update law of the pseudo-gradient (PG) vectors is designed. In addition, the full-form dynamic linearization(FFDL) data model-based model-free adaptive formation controller is given to eliminate the designed standardized formation tracking error. Finally, the boundedness of the tracking error is proved theoretically, and a simulation example is given to prove the effectiveness.