Adaptive sampling artificial-actual control for non-zero-sum games of constrained systems

Abstract

Considering physical constraints encountered by actuators, this paper addresses the non-zero-sum game of continuous nonlinear systems with symmetric and asymmetric input constraints through aperiodic sampling artificial-actual control. Initially, the artificial system built by the improved Elman dynamic neural networks (EDNNs) has artificial-actual interaction with the physical system, which provides a new perspective for predicting the system state. By constantly learning and adjusting parameters, EDNNs can gradually approximate the dynamic behavior of the real system to achieve more effective control. Aiming at accommodating diverse input constraints, the non-quadratic value function constructed from a smoothly bounded function is devised. Then, the polynomial parameterized adaptive dynamic programming (ADP) is employed to approximate the solution of the coupled Hamilton–Jacobi equation (HJE), deriving optimal control laws for two players. To improve the efficiency of data communication, three adaptive sampling mechanisms including event-triggered mechanism (ETM) with relative threshold, dynamic ETM (DETM) and self-triggered mechanism (STM) are introduced in turn during the iterative learning process of control sequences. DETM further extends sampling intervals by incorporating internal dynamic variables, while STM determines the next trigger time through soft calculation without hardware monitoring. All three trigger modes can ensure the system stability while avoiding the Zeno phenomenon, and relevant proofs are given. Finally, the simulation validates the effectiveness of the designed algorithm and highlights the unique characteristics of each trigger mode.