A novel event-triggered constrained control for nonlinear discrete-time systems

In this paper, a novel event-triggered optimal control method is developed for nonlinear discrete-time systems with constrained inputs. First, a non-quadratic utility function is constructed to overcome the challenge caused by saturating actuators. Second, a novel triggering condition is designed to reduce computational burden. Difference from other triggering conditions, fewer assumptions are required to guarantee asymptotic stability. Then, the optimal cost function and control law are obtained by constructing the action-critic network. Convergence analysis of the system is provided in the consideration of the system state and neural network weight estimation errors. Finally, the effectiveness and correctness of the proposed method are verified by two numerical examples.