Event-triggered cooperative robust formation control of multi-agent systems via reinforcement learning

This article develops an event-triggered cooperative robust formation control scheme for nonlinear multi-agent systems with dynamic uncertainties via reinforcement learning. By formulating a modified value function for each agent, the cooperative robust formation control problem of uncertain multi-agent systems is transformed into a cooperative optimal formation control problem of its nominal plant. To save communication and computing resources, a novel triggering condition is developed for each agent, and the controller is renovated only when an event occurs. Subsequently, the event-triggered optimal formation control law of each agent is derived by solving the coupled Hamilton-Jacobi-Bellman equation via single-critic structure. Furthermore, theoretical analysis indicates that the developed event-triggered cooperative robust formation control approach ensures the asymptotic stability of the formation error for each uncertain agent. Eventually, two simulation cases are adopted to confirm the effectiveness of the developed control approach.