Distributed output data-driven optimal robust synchronization of heterogeneous multi-agent systems

Abstract

This work presents an output-feedback policy learning algorithm underlining input–output system data for distributed robust optimal synchronization of heterogeneous multi-agent systems. The output-feedback synchronization problem in the context of this work is formulated via robust output regulation and reinforcement learning modeling the interactions among agents by a zero-sum game. The proposed learning and control structure only requires the local system data for each agent and distributed output data among communicating neighbors. We utilize system-level synchysis for the continuous-time state reconstruction for the distributed learning with convergence and stability proofs under the proposed output-feedback policy for solving the zero-sum game. We further show that policy learning is assured under the proposed data criteria relating to input–output data only rather than any inter-immediate gains from policy iterations. Based on the cooperative robust output regulation, this work gains robustness after the learning is complete and establishes an output data-driven distributed optimal robust synchronization without knowing accurate system dynamics. A numerical example shows the effectiveness of the proposed learning algorithm.