Event-Triggered Adaptive Dynamic Programming Consensus Tracking Control for Discrete-Time Multiagent Systems

Algorithm 1

NN-based event-triggered optimal consensus control algorithm for discrete-time MASs.

	Initialization:
	Give the computation precision and the initial state for agent ;
	Give the initial state for the leader;
	Select the learning rate and ;
	Give the positive matrices , , and ;
	Initialize the event-triggered error condition ;
	Select the positive constant ;
	Iteration:
	Let the iteration index ;
	repeat:
	Calculate the tracking error and the event-triggered error ;
	IF:
	Event-triggered error ;
	Event-triggered index ;
	Compute the control law ;
	Compute the local cost function ;
	Compute the next state of agent and the next state of the leader agent;
	Calculate the next tracking error ;
	Compute the control law ;
	Compute the local cost function ;
	Update the weights matrix of the critic NN;
	Update the weights matrix of the actor NN;
	ELSE:
	The control law ;
	Compute the control law ;
	Compute the next state of agent and the next sate of the leader agent
	according to the model NN;
	;
	Until;
	End