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中心一篇论文被控制领域顶级会议IFAC 2023录用

祝贺中心研一陈晨同学的论文“Event-Triggered Robust Optimal Control for Robotic Manipulators with Input Constraints via Adaptive Dynamic Programming”被控制领域国际顶级会议IFAC2023（作者：陈晨，彭知南*，邹朝彬，施柯丞，黄瑞，程洪）录用。IFAC（International Federation of Automatic Control）是控制领域三大顶级会议之一（ACC、CDC），属于电子科技大学《通信、计算机等领域常见A类国际学术会议》。

论文摘要：In this paper, we propose an event-triggered robust tracking control method for robotic manipulators with asymmetrical input constraints based on adaptive dynamic programming (ADP). First, the original robust tracking control problem is transferred to an optimal control problem for a nominal system with the help of a novel cost function design. Then, to solve this optimization, an event-trigged optimal control is proposed to obtain the optimal solution to Hamilton-Jacobi-Bellman (HJB) equation. Further, the classical ADP framework is used to approximate the optimal cost function and controller. In which, different from the existing weight adaptive laws, an auxiliary term is introduced for removing the initial stable condition. Based on the Lyapunov theory, it is proved that the stability of the original robotic systems and the convergence of weight estimation errors are both guaranteed. Finally, some simulation results show the effectiveness of the proposed event-triggered optimal control method.