Adaptive Event-Triggered Bipartite Formation for Multiagent Systems via Reinforcement Learning

This article investigates the online learning and energy-efficient control issues for nonlinear discrete-time multiagent systems (MASs) with unknown dynamics models and antagonistic interactions. First, a distributed combined measurement error function is formulated using the signed graph theory to transfer the bipartite formation issue into a consensus issue. Then, an enhanced linearization controller model for the controlled MASs is developed by employing dynamic linearization technology. After that, an online learning adaptive event-triggered (ET) actor-critic neural network (AC-NN) framework for the MASs to implement bipartite formation control tasks is proposed by employing the optimized NNs and designed adaptive ET mechanism. Moreover, the convergence of the designed formation control framework is strictly proved by the constructed Lyapunov functions. Finally, simulation and experimental studies further demonstrate the effectiveness of the proposed algorithm.