Event-Driven Optimal Regulation with SNAC Framework for Constrained Nonlinear Plants

In order to reduce the computational burden effectively and ensure that the system has good control performance, an event-driven near-optimal control algorithm is developed for discrete-time nonlinear systems with input constraints. A single network adaptive critic algorithm is adopted to address the constrained optimal control problem. First, the optimal cost function and the optimal control strategy are obtained theoretically through the iterative algorithm. Then, an appropriate triggering threshold is established, so that the system satisfies the event-driven mechanism. In addition, the action network of classical adaptive dynamic programming is omitted. The derivative of the approximate cost function is the output of the critic network and then is used to obtain the approximate optimal control law. Furthermore, the convergence analysis of the iterative algorithm is proved. Finally, a simulation example is conducted to verify the effectiveness of the proposed scheme.