An event-triggered ADP controller for single link robot arm system based on output position

In this paper, an event-triggered adaptive dynamic programming (ADP) control method is proposed for a single link robot arm system based on the output position. Firstly, we propose a state observer with the neural network (NN) technology to reconstruct the signals of the angular position and angular velocity of the robot arm. Then, in order to solve the optimal control problem of the robot arm system, an ADP controller is introduced in an event-triggered manner based on the inner states from the observer, where the ADP method exploits neural network to approximate the performance index in the system and the event-triggered mechanism is designed to update the control signal aperiodically for the reduction of the computation and transmission load. Finally, as for the continuous and the jump dynamics, the uniform ultimate boundedness (UUB) of the closed-loop system is guaranteed with the help of Lyapunov theory, and simulation results are presented to demonstrate the effectiveness of the proposed controller.