Dynamic event-triggered optimal tracking control for constrained nonlinear stochastic systems

Abstract

This paper investigates the optimal tracking control problem (OTCP) for nonlinear stochastic systems with input constraints under the dynamic event-triggered mechanism (DETM). Firstly, the OTCP is converted into the stabilizing optimization control problem by constructing a novel stochastic augmented system. The discounted performance index with nonquadratic utility function is formulated such that the input constraint can be encoded into the optimization problem. Then the adaptive dynamic programming (ADP) method of the critic-only architecture is employed to approximate the solutions of the OTCP. Unlike the conventional ADP methods based on time-driven mechanism or static event-triggered mechanism (SETM), the proposed adaptive control scheme integrates the DETM to further lighten the computing and communication loads. Furthermore, the uniform ultimately boundedness (UUB) of the critic weights and the tracking error are analysed with the Lyapunov theory. Finally, the simulation results are provided to validate the effectiveness of the proposed approach.