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

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 cha...

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Published in:Journal of Automation and Intelligence Vol. 2; no. 4; pp. 239 - 247
Main Authors: Xingyi Zhang, Zijie Guo, Hongru Ren, Hongyi Li
Format: Journal Article
Language:English
Published: KeAi Communications Co., Ltd 01.11.2023
Subjects:
Adaptive dynamic programming (ADP)
Asymmetric input constraints
Event-triggered control
Optimal tracking control
Prescribed performance control
ISSN:2949-8554
Online Access:Get full text
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Abstract 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.
AbstractList 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.
Author Zijie Guo
Xingyi Zhang
Hongyi Li
Hongru Ren
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  organization: School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou 510006, China
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  fullname: Hongru Ren
  organization: School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou 510006, China
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  fullname: Hongyi Li
  organization: Corresponding author.; School of Automation and Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou 510006, China
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Snippet An optimal tracking control problem for a class of nonlinear systems with guaranteed performance and asymmetric input constraints is discussed in this paper....
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StartPage 239
SubjectTerms Adaptive dynamic programming (ADP)
Asymmetric input constraints
Event-triggered control
Optimal tracking control
Prescribed performance control
Title Event-based performance guaranteed tracking control for constrained nonlinear system via adaptive dynamic programming method
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