Event-Triggered Robust Stabilization of Nonlinear Input-Constrained Systems Using Single Network Adaptive Critic Designs
Date of Original Version
In this paper, we study the event-triggered robust stabilization problem of nonlinear systems subject to mismatched perturbations and input constraints. First, with the introduction of an infinite-horizon cost function for the auxiliary system, we transform the robust stabilization problem into a constrained optimal control problem. Then, we prove that the solution of the event-triggered Hamilton-Jacobi-Bellman (ETHJB) equation, which arises in the constrained optimal control problem, guarantees original system states to be uniformly ultimately bounded (UUB). To solve the ETHJB equation, we present a single network adaptive critic design (SN-ACD). The critic network used in the SN-ACD is tuned through the gradient descent method. By using Lyapunov method, we demonstrate that all the signals in the closed-loop auxiliary system are UUB. Finally, we provide two examples, including the pendulum system, to validate the proposed event-triggered control strategy.
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Yang, Xiong, and Haibo He. "Event-Triggered Robust Stabilization of Nonlinear Input-Constrained Systems Using Single Network Adaptive Critic Designs." IEEE Transactions on Systems, Man, and Cybernetics: Systems 50, 9 (2020): 3145-3157. doi:10.1109/TSMC.2018.2853089.