Amalgamated Robust Hierarchical Event‐Triggered Control Scheme for Multi‐Playered Stackelberg Games Affected by Uncertainties and Actuator Faults

ABSTRACT This research presents an amalgamated event‐triggered robust hierarchical control (AERHC) scheme, utilizing dynamic adaptive programming (DAP) in conjunction with the well‐known integral sliding mode control (ISMC) technique, for multiplayer nonlinear systems affected by uncertainties and actuator faults. Two separate event‐triggered frameworks are integrated into the control strategy. In particular, one event‐trigger mechanism is devoted to the ISMC part, while the other mechanism is used for the optimal hierarchical control one. Zeno behavior is eliminated for the both two event‐triggered mechanisms. Upon the trajectory reaching the switching manifold through the mitigation of matched uncertainties and actuator faults, the system evolves into a non‐fault multi‐player Stackelberg nonlinear configuration influenced solely by mismatched uncertainties (or more precisely, external disturbances). Unlike the majority of existing results which simultaneously updates the control policies of all players, a hierarchical decision‐making problem is studied as a Stackelberg game. Particularly, this game is formed from a single leader and many different followers. The leader creates an event‐triggered optimal control policy by accounting for the feedback behavior of all followers before each follower responds to the leader's policy in an event‐triggered optimal way. Ultimately, the quadrotor attitude system is simulated to confirm the validity and merit of the proposed method.