Summary: Based on the model-free adaptive control, the distributed formation control problem is investigated for a class of unknown heterogeneous nonlinear discrete-time multiagent systems with bounded disturbance. Two equivalent data models to the unknown multiagent systems are established through the dynamic linearization technique considering the circumstances with measurable and unmeasurable disturbances. Based on the obtained data models, two distributed controllers are designed with only using the input/output and disturbance data of the neighbor agents system. The tracking error of the closed-loop system driven by the proposed controllers is shown to be bounded by the contraction mapping principle and inductive methods. An example illustrates the effectiveness of the proposed two distributed controllers.
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