Data-Driven Practical Cooperative Output Regulation Under Actuator Faults and DoS Attacks

This article addresses the resilient practical cooperative output regulation problem (RPCORP) for multiagent systems subjected to both denial-of-service (DoS) attacks and actuator faults. Fundamentally different from the existing solutions to RPCORPs, the system parameters considered in this article are unknown to each agent, and a novel data-driven control approach is introduced to handle such an issue. The solution starts with developing resilient distributed observers for each follower in the presence of DoS attacks. Then, a resilient communication mechanism and a time-varying sampling period are introduced to, respectively, ensure the neighbor state is available as soon as attacks disappear and to avoid targeted attacks launched by intelligent attackers. Furthermore, a model-based fault-tolerant and resilient controller is designed based on the Lyapunov approach and the output regulation theory. In order to remove the reliance on system parameters, we leverage a new data-driven algorithm to learn controller parameters via the collected data. Rigorous analysis shows that the closed-loop system can resiliently achieve practical cooperative output regulation. Finally, a simulation example is given to illustrate the effectiveness of the achieved results.