## Adaptive estimation-based TILC for the finite-time consensus control of non-linear discrete-time MASs under directed graph

This work explores the consensus problems under the directed graph, variable learning gains, fast convergence and data-driven control framework comprehensively and proposes an adaptive estimation-based terminal iterative learning control for a nonlinear discrete-time multi-agent system (MAS) with a constant control input. A linear iteration-incremental model is built by using an iterative dynamic linearisation where the unknown partial derivatives are estimated iteratively using I/O data. The learning control law is designed with both a constant learning gain and an iteration-time-varying learning gain. The constant one can be selected properly according to the estimation of partial derivatives and the varying one can be estimated from iteratively utilising I/O data. The result has also been extended to the nonlinear MAS with time-varying control input and an extended adaptive estimation-based TILC is developed by using time-varying control input to enhance the control performance. A fast convergence of both the proposed methods is achieved by removing the unnecessary error constraints at other time instants than the endpoint. Both the proposed methods is apparently data-driven since no model information is involved. The proposed finite time consensus control methods are confirmed to be effective under the directed graph through mathematic proof and extensive simulations.