Dynamic event-triggered finite-horizon robust suboptimal control of multi-player systems with input disturbances

Abstract

This paper presents an adaptive dynamic event-triggered robust finite-horizon suboptimal control scheme for multi-player nonzero-sum game of nonlinear systems with input disturbances based on dynamic programming (ADP) and integral sliding mode (ISM) control techniques. Firstly, dynamic event-triggered adaptive ISM controllers are designed to handle input disturbances that can force the system state to remain on the sliding manifold and relax the known upper bounds condition of input disturbances. Corresponding event-triggered condition is employed for ISM controller of each player to reduce the update frequency. Then, utilizing the obtained ISM dynamics, we employ ADP-based single critic neural networks to approximate the time-varying solution of the Hamilton–Jacobi equations. Thus, the event-triggered finite-horizon suboptimal controllers can be obtained, and corresponding state-based dynamic event-triggered condition is designed to improve the resource utilization. The stability property of the closed-loop system is demonstrated through the Lyapunov technique. Finally, the effectiveness of the proposed control scheme is confirmed through two simulation examples.