Event-triggered constrained control using explainable global dual heuristic programming for nonlinear discrete-time systems

Bo Sun*, Erik Jan van Kampen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

5 Downloads (Pure)

Abstract

This paper develops an event-triggered optimal control method that can deal with asymmetric input constraints for nonlinear discrete-time systems. The implementation is based on an explainable global dual heuristic programming (XGDHP) technique. Different from traditional GDHP, the required derivatives of cost function in the proposed method are computed by explicit analytical calculations, which makes XGDHP more explainable. Besides, the challenge caused by the input constraints is overcome by the combination of a piece-wise utility function and a bounding layer of the actor network. Furthermore, an event-triggered mechanism is introduced to decrease the amount of computation, and the stability analysis is provided with fewer assumptions compared to most existing studies that investigate event-triggered discrete-time control using adaptive dynamic programming. Two simulation studies are carried out to demonstrate the applicability of the constructed approach. The results present that the developed event-triggered XGDHP algorithm can substantially save the computational load, while maintain comparable performance with the time-based approach.

Original languageEnglish
Pages (from-to)452-463
Number of pages12
JournalNeurocomputing
Volume468
DOIs
Publication statusPublished - 2022

Keywords

  • Adaptive dynamic programming
  • Asymmetric input constraints
  • Event-triggered control
  • Explainable artificial intelligence
  • Global dual heuristic programming

Fingerprint

Dive into the research topics of 'Event-triggered constrained control using explainable global dual heuristic programming for nonlinear discrete-time systems'. Together they form a unique fingerprint.

Cite this