Event-Triggered Robust Tracking Controller for Uncertain Nonlinear Systems Using Adaptive Critic

This work presents a novel event-triggered robust tracking control method for nonlinear continuous-time systems with matched uncertainties using an adaptive critic. An augmented system is formulated to convert the event-triggered robust tracking control problem into an event-triggered optimal control problem. The solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the nominal augmented system is approximated using an adaptive critic. The Lyapunov approach is employed to show the robust trajectory tracking performance of the event-triggered controller. The asymptotic stability of the closed-loop system, as well as uniform ultimate boundedness of the critic weight approximation error, is guaranteed. A simulation study is conducted to establish the efficacy of the theoretical findings.