Event-Triggered Nash Equilibrium Seeking for Multiagent Systems With Stubborn ESO

In this article, the event-triggered $\epsilon $ -Nash equilibrium ( $\epsilon $ -NE) seeking problem is investigated for a class of $n$ -integrator multiagent systems with the consideration of multisource disturbances and measurement outliers. In the game setup, the partial information case is considered where each player/agent is only capable of obtaining information from its neighbors. For the purpose of saving network resources, the event-triggered mechanism is utilized which could schedule the signal transmission. In order to suppress the measurement outliers and estimate the disturbances, a stubborn extended-state observer (ESO) is developed by utilizing a saturation-type gain function. The estimates provided by the stubborn ESO act as a feedforward term to offset the disturbances. Then, by integrating the feedforward term with the feedback term, a composite event-triggered NE seeking strategy is developed such that the states of the noncooperative agents could converge to the ${\epsilon }$ -NE solution. In the end, a numerical example is given to verify the validity of our methodology.