| 引用本文: | 吕永峰,田建艳,菅垄,任雪梅.非线性多输入系统的近似动态规划H∞控制[J].控制理论与应用,2021,38(10):1662~1670.[点击复制] |
| LV Yong-feng,TIAN Jian-yan,JIAN Long,REN Xue-mei.Approximate-dynamic-programming H∞ controls for multi-input nonlinear system[J].Control Theory and Technology,2021,38(10):1662~1670.[点击复制] |
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| 非线性多输入系统的近似动态规划H∞控制 |
| Approximate-dynamic-programming H∞ controls for multi-input nonlinear system |
| 摘要点击 1739 全文点击 507 投稿时间：2020-08-25 修订日期：2021-10-01 |
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| DOI编号 10.7641/CTA.2021.00559 |
| 2021,38(10):1662-1670 |
| 中文关键词 H∞控制，近似动态规划，多输入系统，神经网络，参数估计 |
| 英文关键词 H∞ control approximate dynamic programming multi-input systems neural networks parameter estimation |
| 基金项目 山西省重点研发计划项目(201903D121062), 国家自然科学基金项目(61973036)资助. |
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| 中文摘要 |
| 实际工程中存在各种多输入系统, 比如用于大型雷达和火炮的多驱动伺服系统、多自由度机械臂系统等,
针对这些系统的H∞控制研究具有重要意义. 同时, 近似动态规划方法已被广泛用于求解各类最优控制问题, 但并
未涉及多输入系统的H1控制. 本文应用近似动态规划方法, 设计多输入非线性系统的H∞控制器. 应用基于强化学
习的神经网络在线逼近非线性Hamilton–Jacobi–Isaacs (HJI)方程的解, 引进一种新的自适应律更新神经网络权值,
然后直接用于H∞控制器的设计, 并证明了权值的收敛性和系统的闭环稳定性, 保证了多输入系统受到外界未知干
扰时的良好性能. 最后应用仿真实例验证所提方法的正确性和有效性. |
| 英文摘要 |
| There exist all kinds of multi-input systems in practical engineering, such as multi-driven servo system for
large radar and artillery, multi-degree manipulator system and so on. Although the approximate dynamic programming
(ADP) has been used to solve the various optimal control problems, it has not involved in the designation of the H∞
controls for multi-input system. In this paper, the ADP method is used to design the H∞ controllers of the multi-input
nonlinear system. The neural network (NN) based on reinforcement learning is applied to study the solution of nonlinear
Hamilton–Jacobi–Isaacs (HJI) equation. A new adaptive law is introduced to update the NN weights, which is then directly
used to design the H∞ controllers. The convergence of weights and the stability of the system are proved, which guarantees
the good performance of the multi-input system under the unknown |
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