Data-driven Optimal Cooperative Output Regulation of Unknown Linear Discrete-time Multi-agent Systems

The cooperative output regulation problem has been extensively studied on the basis of the distributed observer approach. However, the majority of the existing research assumes that the dynamics is known previously. To remove this condition, the cooperative output regulation problem is further solved via the data-driven framework where the dynamics of the plant is unknown. First, a data-driven distributed observer is established to estimate the state of the leader with unknown dynamics subject to external inputs. Second, the unknown regulator equations are solved using the iterative recurrent neural network approach. Third, the state-based data-driven distributed control law is synthesized to solve the problem. The optimal gains are derived by solving convex optimization problems using input and state data. Finally, a numerical example is presented to verify the feasibility of the proposed framework.