Adaptive critic designs for event-based multi-agent systems with asymmetric constraints

In this paper, based on the adaptive critic control method, an improved event-based distributed control mechanism is established for continuous-time nonlinear multi-agent systems. Notably, to address the consensus control problem when the structure of the leader model differs from that of the follower model, an enhanced control strategy is developed in this paper. Furthermore, a suitable non-quadratic function is formulated to satisfy the asymmetric constraints. Subsequently, an event-triggered mechanism is introduced to conserve communication resources and improve control efficiency. In this process, an innovative triggering condition is presented. Meanwhile, theoretical analysis is conducted to avoid the Zeno behavior. Additionally, by constructing a critic neural network for each follower, the event-triggered near-optimal control law is obtained. Subsequently, the Lyapunov method is employed to guarantee the stability of both the neighborhood synchronization errors and weight estimation errors. Finally, a simulation example is provided to validate the effectiveness of the established mechanism.