Dynamic event-triggered optimal tracking control for constrained nonlinear stochastic systems |
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| Institution: | 1. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, 400067, PR China;2. School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, 110004, PR China;3. Chongqing CAERI Robot Technology Co., Ltd, Chongqing, 400700, PR China;1. College of Automation and College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, P.R.China;2. Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), Nanjing 210023, P.R.China;1. School of Mathematics and Statistics, Shandong Normal University, Ji’nan 250014, PR China;2. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, PR China;1. School of Internet Finance and Information Engineering, Guangdong University of Finance, Guangzhou,510521, China;2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China;3. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, 510006, China;4. School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China |
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| 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. |
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