Leader-to-formation stability of multi-agent systems: An adaptive optimal control approach

This note proposes a novel data-driven solution to the cooperative adaptive optimal control problem of leaderfollower multi-agent systems under switching network topology. The dynamics of all the followers are unknown, and the leader is modeled by a perturbed exosystem. Through the combination of adaptive dynamic programming and internal model principle, an approximate optimal controller is iteratively learned online using real-time input-state data. Rigorous stability analysis shows that the system in closed-loop with the developed control policy is leader-to-formation stable, with guaranteed robustness to unmeasurable leader disturbance. Numerical results illustrate the effectiveness of the proposed data-driven algorithm.