Event-triggered optimal hybrid control for switched nonlinear multiagent systems with unknown dynamics and disturbances.

This paper investigates the event-triggered optimal hybrid control problem for switched nonlinear multiagent systems (SNMASs) with unknown dynamics and external disturbances, where both the optimal consensus control policy and the optimal switching policy are designed. By casting the control problem as a switched multiplayer zero-sum game, the associated optimality conditions are characterized by a switched Hamilton-Jacobi-Isaacs equation. An event-triggered adaptive dynamic programming (ETADP) scheme is then designed to approximate its solution online, while a filter-based identifier is developed to estimate the unknown nonlinearities of agents. To reduce communication and computational burdens, an event-triggered mechanism (ETM) is introduced. Under this mechanism, each agent updates its continuous control input and selects its active subsystem in a distributed manner at each triggering instant. Rigorous analysis establishes the uniform ultimate boundedness of the closed-loop errors and proves the exclusion of Zeno behavior. The simulation results further demonstrate the effectiveness and efficiency of the proposed control framework.