Nash Equilibrium Seeking for Feedforward Nonlinear Multi‐Agent Systems Under Event‐Triggered Communication

ABSTRACT This paper investigates the distributed Nash equilibrium seeking problem for a class of feedforward nonlinear multi‐agent systems under event‐triggered communication. In contrast to the existing literature, the systems under investigation exhibit time‐varying characteristics, serious uncertainties, and unmeasurable states. Moreover, the feedforward structure of the systems renders existing global control schemes based on backstepping design methods and high‐gain approaches ineffective. To solve the problem, a dual‐layer design method is adopted. First, we construct an estimator equipped with an event‐triggered communication mechanism, whose state is guaranteed to converge to the Nash equilibrium. Then, we design a new observer that relies on the estimator's state to reconstruct the unmeasurable system states. By introducing a dynamic low gain, we propose an event‐triggered controller. It is proven that under our control scheme, the Nash equilibrium is achieved. A simulation example is presented to illustrate the main results.