基于ADP的一类未知非线性系统事件触发输出反馈最优控制

ADP-BASED EVENT-TRIGGERED OUTPUT FEEDBACK OPTIMAL CONTROL FOR A CLASS OF UNKNOWN NONLINEAR SYSTEMS

针对一类未知非线性系统,提出基于ADP(Adaptive Dynamic Programming)的事件触发输出反馈最优控制策略,此方法只用到了系统的输出量。考虑到系统内部状态量无法测量和系统模型难以获得的问题,设计神经网络状态观测器来估计系统的不可测状态量并通过输出信息重构了系统的内部状态。在获得系统的未知动态和状态量信息后,设计结合事件触发技术的ADP输出反馈最优控制策略。通过Lyapunov理论推导了神经网络观测器和评估网络的权值更新率,并且证明了闭环控制系统的稳定性。通过仿真实验验证了该控制方法的有效性。

Aimed at a class of unknown nonlinear systems,an event-triggered output feedback optimal control scheme based on adaptive dynamic programming(ADP)is proposed,which uses only the output information.Considering that the internal state of the system could not be measured and the system model was difficult to obtain,a neural network state observer was designed to estimate the unmeasurable system states and reconstruct the system internal state based the output data.After the information of unknown dynamics and the unmeasurable states information were obtained,an ADP output feedback optimal control scheme combined with event-triggered technique was proposed.Through the Lyapunov theory,the weight update rates of neural network observer and critic network were obtained,and the stability of closed-loop control system was proved.The simulation results demonstrate the effectiveness of the proposed control scheme.