SCIENCE CHINA Information Sciences, Volume 63 , Issue 5 : 150210(2020) https://doi.org/10.1007/s11432-019-2663-y

Event-triggered receding horizon control via actor-critic design

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  • ReceivedMay 15, 2019
  • AcceptedSep 16, 2019
  • PublishedMar 30, 2020



This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61803085, 61921004, 61931020) and National Key RD Program of China (Grant No. 2018AAA0101400).


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  • Figure 1

    (Color online) The proposed event-triggered RHAC structure.

  • Figure 2

    (Color online) Comparison of the state trajectories for the single-link robot arm system with Gaussian sensor noise.

  • Figure 3

    (Color online) Event-triggered RHAC algorithm for the single-link robot arm system with Gaussian sensor noise. (a) Evolution of the control input; (b) comparison of trigger error $||e_j||$ and trigger threshold $||e_T||$; (c) cumulative number of events.

  • Figure 4

    (Color online) Comparison of the state trajectories for the single-link robot arm system with uniform actuator noise.

  • Figure 5

    (Color online) Event-triggered RHAC algorithm for the single-link robot arm system with uniform actuator noise. (a) Evolution of the control input; (b) comparison of trigger error $||e_j||$ and trigger threshold $||e_T||$; (c) cumulative number of events.