Robust Adaptive Critic Control Design with Network-based Event-Triggered Formulation
Nov 08, 2017Author：
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| Authors: Mu, CX; Wang, D; Sun, CY; Zong, Q |
| Author Full Names: Mu, Chaoxu; Wang, Ding; Sun, Changyin; Zong, Qun |
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| Language: English |
| Abstract: In this paper, by incorporating the network-based event-triggered formulation, the robust adaptive critic control design for a class of nonlinear continuous-time systems is investigated to fulfill disturbance rejection. First, the designed problem with output information is formulated as a two-player zero-sum differential game and the adaptive critic mechanism is employed toward the event-based minimax optimization involving a suitable triggering condition. Then, the event-based optimal control law and the time-based worst-case disturbance law are learned by training the critic neural network. Besides, the closed-loop system is constructed with stability proof of the critic error dynamics and the sampled-data plant. The theoretical analysis has demonstrated that the infamous Zeno behavior of the proposed event-based adaptive critic design has been avoided. Finally, the developed method is applied toward the robot arm plant, as a mechanical component of the complex robot system, so as to substantiate the performance of disturbance rejection. |
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| Unique ID: WOS:000413286700033 |