Reinforcement learning and cooperative H ∞ output regulation of linear continuous-time multi-agent systems

This paper proposes a novel control approach to solve the cooperative H∞ output regulation problem for linear continuous-time multi-agent systems (MASs). Different from existing solutions to cooperative output regulation problems, a distributed feedforward-feedback controller is developed to achieve asymptotic tracking and reject both modeled and unmodeled disturbances. The feedforward control policy is computed via solving regulator equations, and the optimal feedback control policy is obtained through handling a zero-sum game. Instead of relying on the knowledge of system matrices in the state equations of the followers’ dynamics and initial stabilizing feedback control gains, a value iteration (VI) algorithm is proposed to learn the optimal feedback control gain and feedforward control gain using online data. To the best of our knowledge, this paper is the first to show that the proposed VI algorithm can approximate the solution to continuous-time game algebraic Riccati equations with guaranteed convergence. Finally, the numerical analysis is provided to show the effectiveness of the proposed approach.