Leader-to-Formation Stability of Multiagent Systems: An Adaptive Optimal Control Approach

Weinan Gao, Zhong Ping Jiang, Frank L. Lewis, Yebin Wang

Research output: Contribution to journalArticlepeer-review


This note proposes a novel data-driven solution to the cooperative adaptive optimal control problem of leader-follower multiagent 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.

Original languageEnglish (US)
Article number8272371
Pages (from-to)3581-3587
Number of pages7
JournalIEEE Transactions on Automatic Control
Issue number10
StatePublished - Oct 2018


  • Adaptive dynamic programming (ADP)
  • leader-to-formation stability (LFS)
  • optimal tracking control
  • switching network topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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