Distributed optimal output synchronization of heterogeneous multiagent systems with communication delays

Abstract The optimal output synchronization problem of heterogeneous multi‐agent systems (HMASs) with communication delays is studied in this article. In order to compensate for communication delays actively, we employ networked data‐driven predictive control method to predict the agents' outputs. Then the output synchronization issue of HAMSs is transformed into the stabilization issue of the local pseudo systems, and model‐free off‐policy reinforcement learning technique is used to learn optimal control policies of the local systems. Combined predicted output information with optimal control policies, we develop a distributed data‐driven optimal output policy for each follower. Finally, a numerical example is given to show the effectiveness of our results.