Centralized and Decentralized Event-Triggered Nash Equilibrium-Seeking Strategies for Heterogeneous Multi-Agent Systems

This paper addresses the event-triggered Nash equilibrium-seeking problem for non-cooperative games played by heterogeneous multi-agent systems. Unlike homogeneous multi-agent systems, heterogeneous multi-agent systems consist of agents with different dynamic structures, making it difficult to design control schemes and construct event-triggering conditions for such systems. In this paper, a novel centralized event-triggered Nash equilibrium-seeking strategy and a novel decentralized event-triggered Nash equilibrium-seeking strategy are proposed. The corresponding centralized and decentralized event-triggering conditions are derived. The convergence properties of the proposed centralized and decentralized strategies are proved. Further theoretical analyses illustrate that Zeno behavior does not exist under the proposed strategies. Finally, the effectiveness and efficiency of both centralized and decentralized strategies are presented through numerical experiments. The experimental results illustrate that under both strategies, heterogeneous multi-agent systems achieve the Nash equilibrium successfully, and the communication consumption among agents is significantly reduced.