Event-Triggered Adaptive Dynamic Programming for Uncertain Nonlinear Systems

In this paper, the robust control for a class of continuous-time nonlinear system with unmatched uncertainties is investigated using an event-triggered adaptive dynamic programming method. First, the robust control problem is solved using the optimal control method. Under the event-triggered mechanism, the solution of the optimal control problem can asymptotically stabilize the uncertain system with an designed triggering condition. That is, the designed event-triggered controller is robust to the original uncertain system. Then, a single critic network structure with experience replay technique is constructed to approach the optimal control policies. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed control scheme.

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