Event-Trigger Adaptive Dynamic Programming-Based Coordinate Control of Modular Unmanned System

This paper presents a coordinate control approach for modular unmanned systems (MUS) based on event-triggered (ET) adaptive dynamic programming (ADP) within a nonzero-sum game (NZSG) framework. The dynamics of the MUS are developed using joint torque feedback (JTF). By applying NZSG strategies, the control challenge is reformulated as an ADP problem. The ET mechanism effectively eliminates the need for conventional periodic communication. To derive the optimal control approach, the performance index function is estimated through a critic neural network (NN). Utilizing Lyapunov's theorem, the stability of the closed-loop system is assured. Experimental results validate the effectiveness of the suggested approach.