Distributed Aggregative Game for High-order Systems under Disturbances

In this paper, we consider a distributed aggregative game problem for high-order systems with uncertain disturbances under a directed communication topology. The embedded technique is used to decouple the original problem into two subproblems: path planning and tracking control. We first construct a virtual single-integrator system and design a distributed dynamic average consensus algorithm to estimate the unknown aggregative parameter, and then propose a gradient-based distributed game algorithm for this virtual system to generate the reference trajectory of the aggregative game. In the tracking part, we design a dynamic state feedback controller for the high-order system to track the reference trajectory and reject external disturbances. Finally, simulations are given to validate the effectiveness of the theoretical analysis.