Leader-Follower Bipartite Output Synchronization on Signed Digraphs Under Adversarial Factors via Data-Based Reinforcement Learning

The optimal solution to the leader-follower bipartite output synchronization problem is proposed for heterogeneous multiagent systems (MASs) over signed digraphs in the presence of adversarial inputs in this article. For the MASs, the dynamics and dimensions of the followers are different. Distributed observers are first designed to estimate the leader's two-way state and output over signed digraphs. Then, the leader-follower bipartite output synchronization problem on signed graphs is translated into a conventional output distributed leader-follower problem over nonnegative graphs after the state transformation by using the information of followers and observers. The effect of adversarial inputs in sensors or actuators of agents is mitigated by designing the resilient H-infinity controller. A data-based reinforcement learning (RL) algorithm is proposed to obtain the optimal control law, which implies that the dynamics of the followers is not required. Finally, a simulation example is given to verify the effectiveness of the proposed algorithm.