Intermittent Dynamic Event-Triggered Optimal Control for Networked Control Systems With Input Saturation

In this article, we explore an event-triggered optimal control problem for nonlinear networked control systems (NCSs) with input saturation and aperiodic intermittent control. First, a non-quadratic cost function with the property of intermittent control is formulated, and a Hamilton-Jacobi-Bellman (HJB) equation is designed based on the given cost function to acquire optimal control inputs. To avoid continuous-time communication in networks, a novel aperiodically intermittent dynamic event-triggered (AIDET) control scheme, integrating a dynamic event-triggered control scheme and an aperiodic intermittent control scheme, is proposed in this article. A piecewise continuous internal dynamic variable is introduced in the event-triggering condition, which is more conducive to increasing inter-event times than static event-triggering schemes. Furthermore, the event-triggering condition designed in this article is proven strictly to exclude the Zeno behavior. Moreover, due to the difficulty of directly solving the HJB equation, an actor-critic algorithm in the AIDET scheme is proposed to approximate the optimal control inputs. The approximation errors of weight vectors are proved to be uniformly ultimately bounded. The stability of the considered systems in the proposed AIDET control scheme is analyzed using the Lyapunov theory. Finally, some simulation examples are given to illustrate the effectiveness of the proposed actor-critic algorithm-based AIDET control scheme.