Nonperiodic and Periodic Event-Triggered Online H∞ Control for Constrained Nonlinear Systems

This article presents two new event-triggered control (ETC) schemes based on the online critic learning technique, which aims at tackling the optimal regulation problem of discrete-time constrained nonlinear systems with the disturbance input. First, a novel stability criterion condition is designed to obtain an initial admissible policy pair by using an offline iterative method under the time-triggered control framework. Then, starting from the stability of the constrained system, a nonperiodic ETC method and a periodic ETC method are developed by adopting an online learning algorithm. In addition, four kinds of neural networks are constructed for the implementation of the event-based online $H_{\infty }$ optimal control strategy. Finally, two experimental examples with physical backgrounds are provided to illustrate the effectiveness and superiority of the developed schemes.