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Dynamic event-triggered robust safety control for multiplayer fully cooperative games with mismatched uncertainties and asymmetric input constraints

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Abstract

This paper investigates a dynamic event-triggered robust safety control method for multiplayer fully cooperative games with mismatched uncertainties and asymmetric input constraints under continuous-time nonlinear systems. Firstly, to address the safety constraints on the system states, a suitable barrier function is proposed to transform the original constrained system into an unconstrained system. Subsequently, through the construction of an auxiliary system, the robust control (RC) problem is transformed into optimal control problem with auxiliary control laws. Secondly, the control laws are subjected to asymmetric constraints by designing a non-quadratic function. Unlike traditional static event-triggered control, a new dynamic event-triggered mechanism is introduced for updating the control laws. In addition, a new critic neural network (NN) weight update method is constructed to approximate the solution of the event-triggered Hamiltonian Jacobi Bellman (HJB) equation by using the concurrent learning technique. Furthermore, Lyapunov’s theorem proves that the closed-loop system is uniformly ultimately bounded (UUB). Finally, a simulation example of a single-linked robotic arm is provided to verify the validity of the proposed method in this paper.

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Acknowledgements

This work was supported by science and technology research project of the Henan province (222102240014).

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Authors and Affiliations

  1. School of Artificial Intelligence, Henan University, Zhengzhou, 450000, China

    Chunbin Qin, Tianzeng Zhu & Kaijun Jiang

  2. School of Software, Henan University, Kaifeng, 475000, China

    Jishi Zhang

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  1. Chunbin Qin
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  2. Tianzeng Zhu
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  3. Kaijun Jiang
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Contributions

C.Q. and T.Z. provided methodology, validation, and writing-original draft preparation; K.J. provided conceptualization, writing-review; J.Z. provided supervision; C.Q. provided funding support. All authors have read and agreed to the published version of the manuscript.

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Correspondence to Jishi Zhang.

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Qin, C., Zhu, T., Jiang, K. et al. Dynamic event-triggered robust safety control for multiplayer fully cooperative games with mismatched uncertainties and asymmetric input constraints. Appl Intell 54, 749–766 (2024). https://doi.org/10.1007/s10489-023-05233-9

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