An optimal tracking control for uncertain multiple-input multiple-output non-linear time-varying systems with noises

被引：0
|
作者：
Zhang C. [1 ]
Jiang T.-H. [2 ]
Sun Q.-M. [3 ]
机构：
[1] School of Electrical Engineering and Automation, Henan Institute of Technology, Xinxiang, 453003, Henan
[2] School of Transportation, Ludong University, Yantai, 264025, Shandong
[3] College of Information Science and Technology, Nanjing Forestry University, Nanjing, 210037, Jiangsu
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 03期
关键词：
Adaptive filtering; Adaptive momentum factor; Measurement noise; Multi-dimensional Taylor network; Tracking control;
D O I：
10.7641/CTA.2019.80819
中图分类号：
学科分类号：
摘要：
It is of great significance to minimize the effects of system coupling, stochastic factors, time-varying characteristics, and uncertain nonlinearity while ensuring real-time performance. Therefore, we propose an optimization control scheme based on adaptive multidimensional Taylor network (MTN), comprising a MTN controller (MTNC) and a MTN filter (MTNF). Firstly, an improved gradient method, which is based on reinforcement learning and adaptive momentum factor, is designed to adjust the MTNC weights to respond quickly to the uncertainty and time-varying characteristics of the controlled object to achieve the optimal control. The stability of the closed-loop system is proved. Then, the MTNF weight update law is designed by Lyapunov stability theory, and the dynamic errors exponentially converge to zero. The Lyapunov function is appropriately selected to construct the energy space with the global minimum value and the Lyapunov characteristics is analyzed. The convergence speed and convergence area of MTNF error are proved, and the singularity problem is avoid. Lastly, simulation results show that the proposed controller and filter can obtain higher precision in a short period of time. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：676 / 686
页数：10
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