Robot motion constraint tracking control method based on event triggering

The invention belongs to the technical field of robot system control, and particularly relates to a robot motion constraint tracking control method based on event triggering. An original motion constraint tracking control problem is converted into a new optimal control problem of an unconstrained tracking error system by introducing a conversion equation. And on this basis, an intelligent learning device based on an event triggering mechanism is constructed, an internal relation between event triggering time and system state information is established, and online solution of the optimal controller is realized. The robot system is ensured to perform motion tracking control in the safety constraint space range, and the communication load and the computing resource loss of the robot system are effectively reduced. In the solving process, by introducing a stability item into a weight parameter updating rule, the requirement for an initial stability controller is relaxed, and the feasibility of the method in actua