Distributed data-driven tracking control for networked nonlinear MIMO multi-agent systems subject to communication delays

This article addresses the tracking control issue of networked nonlinear MIMO multi-agent systems under random delay. Since the model of nonlinear system is difficult to be obtained accurately, a data-driven control strategy called model-free adaptive control method is introduced, which only needs the information of input and output data. Based on the above approach and the networked delay compensation technique, a data-based delay compensation tracking control scheme is proposed. And the sufficient condition for the asymptotic stability is given. The proposed method can achieve a good tracking performance, and actively compensate the networked-induced delay. The feasibility of the proposed method is validated through numerical simulations.