Event-Based Constrained Robust Control of Affine Systems Incorporating an Adaptive Critic Mechanism

Abstract

This paper focuses on establishing an event-based constrained robust control strategy for a class of continuous-time affine nonlinear systems by incorporating the adaptive critic mechanism (ACM). The main objective is to integrate the event-based framework, the constrained optimal control method, and the neural network learning ability, thereby achieving the nonlinear robust state feedback of input-constrained nonlinear systems under event-based environment. Through theoretical analysis, it is shown that the nonlinear robust control law subject to input limitations can be obtained by designing an event-based constrained optimal controller with respect to the nominal system. Then, the ACM is adopted to facilitate the constrained optimal control implementation, where a critic neural network is constructed to serve as the learning approximator. The system stability issue is proved by employing the Lyapunov theory and the constrained robust control performance is illustrated through simulation experiments of several dynamical plants.