Quantised data-driven iterative learning bipartite consensus control for unknown heterogeneous linear MASs with varying trial lengths

This paper aims to realise the robust output bipartite consensus for unknown heterogeneous linear time-varying multiagent systems (MASs) subject to varying trial lengths, unknown measurement disturbances and data quantisation. To this end, inspired by the idea of quantised control, a quantised data-driven adaptive iterative learning bipartite consensus (AILBC) method is proposed. Specifically, to address the problem of varying trial lengths, a distributed auxiliary output prediction system is constructed based on the agents' input-output (I/O) dynamic relationship. An adaptive update protocol is developed to estimate the measurement disturbances and unknown parameters of I/O dynamic relationship. Subsequently, a quantised distributed data-driven iterative learning control (ILC) approach based on the quantised output information is proposed for MASs to achieve robust bipartite consensus tracking, with an attempt to relax the need of explicit model information. The bipartite consensus tracking errors are ultimately bounded through rigorous analysis, and this result is further extended to switching topologies. Finally, numerical simulations are conducted to verify the validity of the AILBC method.