Event-Driven-Modular Adaptive Backstepping Optimal Control for Strict-Feedback Systems Through Zero-Sum Differential Games

This paper addresses the event-driven-modular optimal tracking control problem for nonlinear strict-feedback systems with external disturbances. Through the backstepping feedforward control, the optimal tracking problem is transformed into an equivalent optimal regulation problem of affine tracking...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.126511-126522
Main Authors: Ji, Yuehui, Zhou, Hailiang, Bai, Bing
Format: Article
Language:English
Subjects:
Adaptive backstepping optimal
Adaptive control
adaptive dynamic programming (ADP)
Adaptive systems
Backstepping
Cost function
Differential games
Dynamic programming
event triggering control
Feedback
Feedback control
Feedforward control
Feedforward systems
Mathematical models
neural network (NN)
Neural networks
Nonlinear control
Nonlinear systems
Optimal control
Optimization
Tracking control
Tracking errors
Tracking problem
Zero sum games
zero-sum differential game
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Summary:This paper addresses the event-driven-modular optimal tracking control problem for nonlinear strict-feedback systems with external disturbances. Through the backstepping feedforward control, the optimal tracking problem is transformed into an equivalent optimal regulation problem of affine tracking error system. Subsequently, adaptive dynamic programming technique is introduced to generate the optimal feedback controller, and solve the optimization problem of two-player zero-sum differential game. A single critic neural network is constructed to evaluate the associated cost function online, where the novel weight updating law is derived based on the gradient-descent technique. The resulting event-triggered closed-loop system, modeled as an impulsive system, is proved to be asymptotically stable by Lyapunov theory. Finally, the reliability and effectiveness of the theoretical results is validated by numerical simulation examples.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3008403