Event-Triggered Impulsive Controller Design of Continuous Nonlinear Systems Using Liquid-Updating ADP

This paper designs and optimizes the event-triggered impulsive controller (ETIC) of continuous-time nonlinear systems. A generalized-event-driven system model (GEM) is designed to characterize the impulsive dynamics over the impulsive actions. Using the GEM, we construct the ETIC which is further optimized by the proposed event-triggered impulsive adaptive dynamic programming (ETIADP) method. By utilizing a new value updating technique, the liquid-updating ETIADP (LADP) is presented such that the computing devices with low memory capacities can be used to carry out the optimization scheme. By analyzing the admissibility, convergence and error bound properties of ETIADP and LADP, it is proved that the optimal impulsive performance index function and ETIC can be successfully obtained. An experimental study is given to validate the effectiveness of the proposed approaches.