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Finite-Horizon Robust Event-Triggered Control for Nonlinear Multi-agent Systems with State Delay

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Abstract

This paper investigates the finite-horizon robust event-triggered control for nonlinear multi-agent systems (NMASs) with state delay. The consensus of NMASs has been studied extensively. Robustness, as another significant topic of NMASs, has not been given enough attention. To fill the gap in this field, we are committed to studying the robust problem for NMASs and a criterion that the robust problem of the NMASs is equivalent to the optimal problem of its nominal system is given. In terms of algorithms, compared with the traditional continuous-time policy iteration algorithm, the event-triggered policy iteration algorithm is utilized to study the event-triggered HJB equation which can effectively reduce controller updates and redundant communication. After that, through the actor-critic network with the time-varying activation function, the approximate event-triggered optimal controller for the nominal state-delay NMASs is designed. In addition, this paper also excludes the Zeno behavior of the closed-loop system. Finally, the effectiveness of the proposed scheme is further verified by two examples.

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Authors and Affiliations

  1. College of Science, Hohai University, Moling Street, Nanjing, 210098, Jiangsu, China

    Chen Liu & Lei Liu

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  1. Chen Liu
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  2. Lei Liu
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Correspondence to Lei Liu.

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Liu, C., Liu, L. Finite-Horizon Robust Event-Triggered Control for Nonlinear Multi-agent Systems with State Delay. Neural Process Lett 55, 5167–5191 (2023). https://doi.org/10.1007/s11063-022-11085-0

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