Cooperative Robust Output Consensus in Continuous-Time Heterogeneous Multi-Agent Systems Using Integral Reinforcement Learning Method

: The Robust Cooperative Output Consensus (RCOC) in continuous time Heterogeneous Multi-Agent Systems with the directed graph is addressed. In the standard solution of the RCOC, the p-copy internal model method is used. This method requires dynamical equations of the agents and the leader. In the present paper, based on the equivalent auxiliary system method, a new auxiliary system is obtained. Then, the RCOC is transformed to a control problem. Moreover, a model-free algorithm is proposed to solve the Robust Algebraic Riccati Equation using the Integral Reinforcement Learning (IRL) method. It is shown that the proposed method satisfies the output regulation equations. A simulation example verifies the effectiveness of the proposed method.