Data-Driven Cooperative Output Regulation of Continuous-Time Multi-Agent Systems with Unknown Network Topology

TL;DR

This paper presents a novel data-driven method for cooperative output regulation in continuous-time multi-agent systems with unknown network topology, eliminating the need for global network information and derivative measurements.

Contribution

It introduces a topology-independent controller design using eigenvalue bounds and data informativity, applicable even with noisy data.

Findings

Successful numerical simulations validate the proposed approach.

The method effectively handles unknown network topology and noisy data.

Distributed controllers achieve cooperative output regulation under less data requirements.

Abstract

This paper investigates data-driven cooperative output regulation for continuous-time multi-agent systems with unknown network topology. Unlike existing studies that typically assume a known network topology to directly compute controller parameters, a novel approach is proposed that allows for the computation of the parameter without prior knowledge of the topology. A lower bound on the minimum non-zero eigenvalue of the Laplacian matrix is estimated using only edge weight bounds, enabling the output regulation controller design to be independent of global network information. Additionally, the common need for state derivative measurements is eliminated, reducing the amount of data requirements. Furthermore, necessary and sufficient conditions are established to ensure that the data are informative for cooperative output regulation, leading to the design of a distributed output regulation controller. For the case with noisy data, the bound of the output error is provided, which is positively correlated with the noise bound, and a distributed controller is constructed for the approximate cooperative output regulation. Finally, the effectiveness of the proposed methods is verified through numerical simulations.