Event-Triggered Mechanism-Based Discrete-Time Nash Equilibrium Seeking for Graphic Game With Outlier-Resistant ESO
针对受扰动的图博弈，提出一种离散时间抗异常扩展状态观测器与事件触发机制结合的纳什均衡求解策略，使玩家在异常测量下估计并补偿扰动，降低通信频率，并给出均衡点收敛性分析与卫星系统验证。
In this article, we consider a discrete-time Nash equilibrium (NE) seeking problem for graphic game subject to disturbances. For the first-order dynamics, the discrete-time outlier-resistant extended state observer (ESO)-based game strategy is proposed to enable the players to estimate the disturbances under effect of anomaly measurements and then compensate them. An event-triggered mechanism is applied between adjacent players to reduce the frequency of communication. The convergence of the outlier-resistant ESO and control strategy is presented. Moreover, the upper bound of ϵ -NE solution deviating from the unique point of nominal system is given analytically. Then, the addressed issues are extended to high-order game systems. The NE seeking-based control strategy for each player is designed such that the equilibrium point converges to the ϵ -NE which is also analytically calculated. Finally, in order to verify the effectiveness of the proposed game strategy, an example of satellite system is given.