Dynamic event-triggered controller design for nonlinear systems: Reinforcement learning strategy

Abstract

The current investigation aims at the optimal control problem for discrete-time nonstrict-feedback nonlinear systems by invoking the reinforcement learning-based backstepping technique and neural networks. The dynamic-event-triggered control strategy introduced in this paper can alleviate the communication frequency between the actuator and controller. Based on the reinforcement learning strategy, actor–critic neural networks are employed to implement the n-order backstepping framework. Then, a neural network weight-updated algorithm is developed to minimize the computational burden and avoid the local optimal problem. Furthermore, a novel dynamic-event-triggered strategy is introduced, which can remarkably outperform the previously studied static-event-triggered strategy. Moreover, combined with the Lyapunov stability theory, all signals in the closed-loop system are strictly proven to be semiglobal uniformly ultimately bounded. Finally, the practicality of the offered control algorithms is further elucidated by the numerical simulation examples.