Distributed Nash Equilibrium Seeking Under Dynamic Event-Triggered Mechanism Without Velocity Measurement

In this paper, the noncooperative game with second-order nonlinear systems is studied. To seek the Nash equilibrium (NE) for each player with second-order nonlinear dynamics, a distributed NE seeking algorithm is proposed. Therein, considering the difficulty of obtaining velocity information in the real physical system, this paper adopts the filter-based method that utilizes the single-layer velocity observation system to quickly obtain the accurate speed estimation information of the player, so as to reduce the system cost. At the same time, to make reasonable use of communication resources and reduce communication overhead among players, a dynamic event-triggered mechanism driven by inner variable is provided. It avoids Zeno-behavior while achieving NE seeking. Finally, the effectiveness and feasibility of the proposed algorithm are demonstrated through an instance of multi-unmanned aerial vehicle (UAVs) systems.