This study investigates the tracking consensus problem for a class of unknown nonlinear multi-agent systems A novel data-driven protocol for this problem is proposed by using the model-free adaptive control method To obtain faster convergence speed, one-step-ahead desired signal is introduced to construct the novel protocol Here, switching communication topology is considered, which is not required to be strongly connected all the time Through rigorous analysis, sufficient conditions are given to guarantee that the tracking errors of all agents are convergent under the novel protocol Examples are given to validate the effectiveness of results derived in this article
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