Decentralized finite-horizon suboptimal control for nonlinear interconnected dynamic systems using SDRE approach

摘要

This paper introduces a new approach to ensure the decentralized horizon suboptimal control of interconnected nonlinear systems based on the decentralized finite-state-dependent Riccati equation. This approach is, in fact, a new extension of the state-dependent Riccati equation technique with a finite horizon for the case of large-scale nonlinear systems, which are characterized by the interconnection of n subsystems. The main finding in this work is the use of the Lyapunov direct method of stability analysis, associated with a quadratic function, in order to determine a new sufficient condition to guarantee the global asymptotic stability of the studied systems. We conducted advanced simulations of this new control method on three interconnected inverted pendulums. Our results demonstrate its efficiency and the sufficiency of the new stability conditions.