基于平行控制的离散非线性系统的事件触发近似最优控制  

Parallel control-based event-driven approximate optimal control of discrete-time nonlinear systems

作　　者：廖泽华 梁子钰 周天民 卢经纬 魏庆来[1,2] LIAO Zehua;LIANG Ziyu;ZHOU Tianmin;LU Jingwei;WEI Qinglai(The State Key Laboratory for Management and Control of Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100086,China;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;Key Laboratory of Smart Grid of Ministry of Education,Tianjin University,Tianjin 300072,China)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学人工智能学院,北京100049 [3]天津大学,智能电网教育部重点实验室,天津300072

出　　处：《智能科学与技术学报》2021年第4期435-443,共9页Chinese Journal of Intelligent Science and Technology

基　　金：国家自然科学基金资助项目(No.62073321)。

摘　　要：针对离散非线性系统提出了一种基于平行控制的事件触发近似最优控制方法。首先,基于时间触发的最优值函数和最优控制律,提出了一种新型的触发条件,并基于李雅普诺夫方法证明了闭环系统的渐近稳定性。其次,为了实施设计的触发条件,提出了一种采用神经网络和自适应动态规划技术的平行控制方法,以预测系统的下一步状态,并获得最优值函数和最优控制律。最后,通过仿真实验验证了所提方法的有效性。A parallel control-based event-driven approximate optimal control method was proposed for discrete-time nonlinear systems.Firstly,based on the time-triggered optimal value function and optimal control law,a novel triggering condition was developed and the asymptotic stability of the closed-loop system was proved based on the Lyapunov method.Secondly,a parallel control method using neural networks and adaptive dynamic programming techniques was proposed to predict the next state of the system and to obtain the optimal value function and control law.Finally,the effectiveness of the developed method was validated by numerical examples.

关 键 词：事件触发控制 非线性最优控制 平行控制 自适应动态规划 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]