不确定非线性系统的事件驱动鲁棒跟踪控制

摘要

针对一类不确定非线性系统提出了一个基于自适应动态规划的事件驱动鲁棒跟踪控制方案.首先,通过系统增广技术将原系统的鲁棒跟踪控制问题转化为增广系统的鲁棒镇定问题;然后,为其标称系统定义一个新的性能指标函数进一步将鲁棒镇定问题转化为标称系统的最优控制问题,并证明了问题转化的等价性;接着,提出了一个事件驱动自适应动态规划算法求解标称系统的HJB方程,即利用一个评价网络近似最优性能指标,进而获得事件驱动近似最优控制策略,并基于Lyapunov稳定性理论证明了所提出的控制方案可保证闭环系统的一致最终有界稳定性;最后,仿真例子验证了所提出的事件驱动鲁棒跟踪控制方案的有效性.%In this paper , an event-driven robust tracking control scheme based on adaptive dynamic programming is proposed for a class of unknown uncertain nonlinear system .Firstly , through system augmentation technique ,the robust tracking control problem of the original system is transformed to the robust stabilizing problem of the augmented system .A new performance index function is defined ,through w hich the robust stabilizing problem is further converted to the optimal control problem of the nominal system .And the equivalence of problem transformation is proved .Then ,an event-driven adaptive dynamic programming algorithm is proposed to solve the HJB equation of nominal system ,i .e .,a critic network is employed to approximate the optimal performance index function , and then the event-driven approximate optimal control policy is obtained .Based on Lyapunov stability theory ,the uninform ultimately boundedness of the closed-loop system is proved .Finally ,a simulation example is given to verify the effectiveness of the proposed event-driven robust tracking control scheme.