基于自适应动态规划的非线性系统鲁棒控制与分散镇定

项目名称： 基于自适应动态规划的非线性系统鲁棒控制与分散镇定

项目编号： No.61304086

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 自动化技术、计算机技术

项目作者： 王鼎

作者单位： 中国科学院自动化研究所

项目金额： 25万元

中文摘要： 随着生产规模的日益扩大，越来越多的实际非线性系统具有难以建模、包含不确定项、子系统之间存在着关联等特性，而且人们对于控制系统的品质要求也不断提高。本项目研究基于自适应动态规划的非线性系统鲁棒控制与分散镇定。首先，提出自适应动态规划的改进迭代算法，以此求解具有未知动态非线性系统的最优控制问题。其次，基于自适应动态规划最优控制方法研究不确定非线性系统的鲁棒镇定设计。再次，建立基于学习最优控制的非线性关联系统的分散镇定策略，进而研究非线性大系统的分散最优控制，扩大自适应动态规划方法的适用范围。最后，构建神经网络研究迭代算法的实现过程，并通过仿真实验验证上述方法的有效性与优越性。本项目所提出的方法将深化自适应动态规划在非线性系统最优控制领域的理论成果，同时为非线性系统的鲁棒控制和分散控制设计提供新的途径，从而有助于解决复杂系统的控制、优化与管理等实际问题，因此具有重要的理论意义和应用价值。

中文关键词： 自适应动态规划；最优控制；神经网络；鲁棒控制；分散镇定

英文摘要： With the expansion of production scale, the mathematical models of more and more practical nonlinear systems are often difficult to build. Besides, there always exist uncertainties in the systems and interconnections among the subsystems. Additionally, the quality requirements of the controlled systems are also enhanced. In this project, the robust control and decentralized stabilization of nonlinear systems based on adaptive dynamic programming are investigated. First, the improved iterative adaptive dynamic programming algorithm is developed, so as to solve the optimal control problem of nonlinear systems with unknown dynamics. Then, the adaptive dynamic programming based optimal control scheme is employed to deal with the robust stabilization design of uncertain nonlinear systems. Moreover, the decentralized stabilization strategy of nonlinear interconnected systems based on learning optimal control is established. After that the decentralized optimal control of nonlinear large-scale systems is studied, thus the application scope of adaptive dynamic programming method is enlarged obviously. At last, the implementation process of the given iteration algorithms is presented by constructing neural networks. In addition, the effectiveness and superiority of the above approaches are verified via simulation experim

英文关键词： Adaptive Dynamic Programming；Optimal Control；Neural Networks；Robust Control；Decentralized Stabilization