This paper presents a novel approximation-based event-triggered control of multi-input multi-output uncertain nonlinear continuous-time systems in affine form. The controller is approximated using a linearly parameterized neural network (NN) in the context of event-based sampling. After revisiting the NN approximation property in the context of event-based sampling, an event-triggered condition is proposed using the Lyapunov technique to reduce the network resource utilization and to generate the required number of events for the NN approximation. In addition, a novel weight update law for aperiodic tuning of the NN weights at triggered instants is proposed to relax the knowledge of complete system dynamics and to reduce the computation when compared with the traditional NN-based control. Nonetheless, a nonzero positive lower bound for the inter-event times is guaranteed to avoid the accumulation of events or Zeno behavior. For analyzing the stability, the event-triggered system is modeled as a nonlinear impulsive dynamical system and the Lyapunov technique is used to show local ultimate boundedness of all signals. Furthermore, in order to overcome the unnecessary triggered events when the system states are inside the ultimate bound, a dead-zone operator is used to reset the event-trigger errors to zero. Finally, the analytical design is substantiated with numerical results.
This paper presents an event-triggered near optimal control of uncertain nonlinear discrete-time systems. Event-driven neurodynamic programming (NDP) is utilized to design the control policy. A neural network (NN)-based identifier, with event-based state and input vectors, is utilized to learn the system dynamics. An actor-critic framework is used to learn the cost function and the optimal control input. The NN weights of the identifier, the critic, and the actor NNs are tuned aperiodically once every triggered instant. An adaptive event-trigger condition to decide the trigger instants is derived. Thus, a suitable number of events are generated to ensure a desired accuracy of approximation. A near optimal performance is achieved without using value and/or policy iterations. A detailed analysis of nontrivial inter-event times with an explicit formula to show the reduction in computation is also derived. The Lyapunov technique is used in conjunction with the event-trigger condition to guarantee the ultimate boundedness of the closed-loop system. The simulation results are included to verify the performance of the controller. The net result is the development of event-driven NDP.
This paper presents a novel adaptive neural network (NN) control of single-input and single-output uncertain nonlinear discrete-time systems under event sampled NN inputs. In this control scheme, the feedback signals are transmitted, and the NN weights are tuned in an aperiodic manner at the event sampled instants. After reviewing the NN approximation property with event sampled inputs, an adaptive state estimator (SE), consisting of linearly parameterized NNs, is utilized to approximate the unknown system dynamics in an event sampled context. The SE is viewed as a model and its approximated dynamics and the state vector, during any two events, are utilized for the event-triggered controller design. An adaptive event-trigger condition is derived by using both the estimated NN weights and a dead-zone operator to determine the event sampling instants. This condition both facilitates the NN approximation and reduces the transmission of feedback signals. The ultimate boundedness of both the NN weight estimation error and the system state vector is demonstrated through the Lyapunov approach. As expected, during an initial online learning phase, events are observed more frequently. Over time with the convergence of the NN weights, the inter-event times increase, thereby lowering the number of triggered events. These claims are illustrated through the simulation results.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.