Event-based performance guaranteed tracking control for constrained nonlinear system via adaptive dynamic programming method  

作　　者：Xingyi Zhang Zijie Guo Hongru Ren Hongyi Li 

机构地区：[1]School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control,Guangdong University of Technology,Guangzhou 510006,China

出　　处：《Journal of Automation and Intelligence》2023年第4期239-247,共9页自动化与人工智能（英文）

基　　金：supported in part by the National Natural Science Foundation of China(62033003,62003093,62373113,U23A20341,U21A20522);the Natural Science Foundation of Guangdong Province,China(2023A1515011527,2022A1515011506).

摘　　要：An optimal tracking control problem for a class of nonlinear systems with guaranteed performance and asymmetric input constraints is discussed in this paper.The control policy is implemented by adaptive dynamic programming(ADP)algorithm under two event-based triggering mechanisms.It is often challenging to design an optimal control law due to the system deviation caused by asymmetric input constraints.First,a prescribed performance control technique is employed to guarantee the tracking errors within predetermined boundaries.Subsequently,considering the asymmetric input constraints,a discounted non-quadratic cost function is introduced.Moreover,in order to reduce controller updates,an event-triggered control law is developed for ADP algorithm.After that,to further simplify the complexity of controller design,this work is extended to a self-triggered case for relaxing the need for continuous signal monitoring by hardware devices.By employing the Lyapunov method,the uniform ultimate boundedness of all signals is proved to be guaranteed.Finally,a simulation example on a mass–spring–damper system subject to asymmetric input constraints is provided to validate the effectiveness of the proposed control scheme.

关 键 词：Adaptive dynamic programming(ADP) Asymmetric input constraints Prescribed performance control Event-triggered control Optimal tracking control 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]