Event-Triggered ADP for Tracking Control of Partially Unknown Constrained Uncertain Systems

An event-triggered adaptive dynamic programming (ADP) algorithm is developed in this article to solve the tracking control problem for partially unknown constrained uncertain systems. First, an augmented system is constructed, and the solution of the optimal tracking control problem of the uncertain system is transformed into an optimal regulation of the nominal augmented system with a discounted value function. The integral reinforcement learning is employed to avoid the requirement of augmented drift dynamics. Second, the event-triggered ADP is adopted for its implementation, where the learning of neural network weights not only relaxes the initial admissible control but also executes only when the predefined execution rule is violated. Third, the tracking error and the weight estimation error prove to be uniformly ultimately bounded, and the existence of a lower bound for the interexecution times is analyzed. Finally, simulation results demonstrate the effectiveness of the present event-triggered ADP method.