In this paper, a dynamic event-driven optimal control scheme is proposed for the zero-sum differential graphical games in nonlinear multiagent systems with full-state constraints. Initially, to address the dual demands of optimality and state constraints, a set of system transformation functions are introduced to satisfy the state constraints of the agents. Then, by applying the principle of differential game theory, the distributed optimal control problem affected by external disturbances is formulated as a zero-sum differential graphical game, and the performance index function related to neighbor informations and disturbances is designed for each follower. Afterwards, to enhance the utilization of communication resource, a novel dynamic event-triggered mechanism characterized by a dynamic threshold parameter and an auxiliary dynamic variable is developed, which not only exhibits greater flexibility but also diminishes the frequency of triggers. Furthermore, the approximate optimal control strategies are obtained by employing an event-driven adaptive dynamic programming algorithm. Ultimately, a simulation example is presented to verify the applicability of the proposed control approach.

中文翻译：

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状态约束多智能体零和微分图形博弈的动态事件驱动最优一致性控制


本文针对具有全状态约束的非线性多智能体系统中的零和微分图形博弈，提出了一种动态事件驱动的最优控制方案。最初，为了解决最优性和状态约束的双重需求，引入了一组系统变换函数来满足代理的状态约束。然后，应用微分博弈论原理，将受外部扰动影响的分布式最优控制问题表述为零和微分图解博弈，并为每个跟随器设计与邻居信息和扰动相关的性能指标函数。随后，为了提高通信资源的利用率，开发了一种以动态阈值参数和辅助动态变量为特征的新型动态事件触发机制，不仅表现出更大的灵活性，而且减少了触发频率。此外，通过采用事件驱动的自适应动态规划算法获得近似最优控制策略。最后，给出了一个仿真例子来验证所提出的控制方法的适用性。