Event-Triggered Intelligent Critic Design for Constrained Nonaffine Nonzero-Sum Games

In this paper, we develop an event-triggered optimal learning algorithm based on the dual heuristic dynamic programming (DHP) framework to solve a constrained nonzero-sum game problem with discrete-time nonaffine dynamics. First, for two controllers in nonzero-sum games, we adopt different boundaries to constrain them, which ensures their independence. Then, the specific derivation process of the proposed algorithm is given by using the DHP technique. Meanwhile, an appropriate triggering condition is established to decrease the amount of computation. Finally, a simulation example is carried out to demonstrate the applicability of the constructed method. The event-based constrained control algorithm is able to substantially reduce the updating times of the control input, while still maintaining an impressive performance.