Event-Triggered Control of Multi-Player Zero-Sum Games via Adaptive Dynamic Programming

This paper investigates zero-sum game problems of nonlinear multi-player systems by using adaptive dynamic programming-based event-triggered control method. To begin with, a cost function which contains all the control inputs and the disturbance is designed. For the purpose of reducing the computation and communication burdens, a novel triggering condition which is suitable to multiple controllers is derived by using Lyapunov’s direct method. It is noticed that the control laws and the disturbance laws are updated when the triggering condition is violated only to save computational resources. Theoretical analysis shows that the developed triggering condition guarantees the uniform ultimate boundedness of the closed-loop system. Finally, simulation example is provided to validate the effectiveness of the developed method.