中国科学院自动化研究所机构知识库

This paper investigates velocity and input constrained integrated game and control (IGC) problems for integrator-type multi-agent systems via event-triggered communication mechanism. To be specific, a distributed event-triggered scheme is firstly developed to seek the Nash equilibrium (NE) for single-integrator without considering the boundedness of control inputs, followed by which an adaptive NE seeking algorithm is also provided with no need of the smallest eigenvalue of the graph's Laplacian matrix as well as the number of agents. Then, by adapting the hyperbolic tangent function into the event-triggered NE seeking controller, the IGC problem of double-integrator is addressed while guaranteeing the velocity and input constraints. The convergence results are given through Lyapunov stability analyses, and the Zeno behavior is proven to be excluded by the MASs. Finally, numerical simulations are included to verify the effectiveness of the proposed method.