Event-trigger-based robust control for nonlinear constrained-input systems using reinforcement learning method

Abstract

In this paper, an online integral reinforcement learning strategy is proposed to deal with robust constrained control problems using event-triggered mechanism for nonlinear Continuous-Time (C-T) systems with external disturbances. The novel design of constrained control law is addressed together with the adaptive event-triggered condition by guaranteeing the optimal performance and system stability. An adaptive online actor-critic Neural Network (NN) reinforcement learning scheme is developed to approximate the optimal solution of the complicated Hamilton–Jacobi–Isaacs equation. Meanwhile, the convergence of NN weight errors and the event-triggered closed-loop system stability are demonstrated to be uniform ultimate bounded by Lyapunov analysis under the proposed triggering condition. Moreover, event-triggered H∞ tracking control with input constrains and limited network communication is also presented by establishing an augmented system. Finally, simulation results are provided to show the algorithm validity.