Data-based bipartite formation control for multi-agent systems with communication constraints.

ABSTRACT

This article investigates data-driven distributed bipartite formation issues for discrete-time multi-agent systems with communication constraints. We propose a quantized data-driven distributed bipartite formation control approach based on the plant's quantized and saturated information. Moreover, compared with existing results, we consider both the fixed and switching topologies of multi-agent systems with the cooperative-competitive interactions. We establish a time-varying linear data model for each agent by utilizing the dynamic linearization method. Then, using the incomplete input and output data of each agent and its neighbors, we construct the proposed quantized data-driven distributed bipartite formation control scheme without employing any dynamics information of multi-agent systems. We strictly prove the convergence of the proposed algorithm, where the proposed approach can ensure that the bipartite formation tracking errors converge to the origin, even though the communication topology of multi-agent systems is time-varying switching. Finally, simulation and hardware tests demonstrate the effectiveness of the proposed scheme.