Dynamic event-triggered optimal tracking control for constrained nonlinear stochastic systems
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 augmente...
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| Published in: | Journal of the Franklin Institute Vol. 360; no. 2; pp. 1145 - 1165 |
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| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Elsevier Inc
01.01.2023
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| ISSN: | 0016-0032, 1879-2693 |
| Online Access: | Get full text |
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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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| AbstractList | 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. |
| Author | Ao, Wengang Huang, Guoyang Liu, Pengda Liu, Zongmin Ming, Zhongyang |
| Author_xml | – sequence: 1 givenname: Pengda surname: Liu fullname: Liu, Pengda email: liupengda36@126.com organization: National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, 400067, PR China – sequence: 2 givenname: Wengang orcidid: 0000-0003-2678-8505 surname: Ao fullname: Ao, Wengang email: aowg@ctbu.edu.cn organization: National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, 400067, PR China – sequence: 3 givenname: Zhongyang surname: Ming fullname: Ming, Zhongyang email: zhongyangming427@163.com organization: School of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, 110004, PR China – sequence: 4 givenname: Guoyang surname: Huang fullname: Huang, Guoyang email: huangguoyang1@caeri.gt.cn organization: Chongqing CAERI Robot Technology Co., Ltd, Chongqing, 400700, PR China – sequence: 5 givenname: Zongmin surname: Liu fullname: Liu, Zongmin email: liu_zm@ctbu.edu.cn organization: National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing, 400067, PR China |
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