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Optimal control method based on data-driven single network structure

A technology of optimal control and network structure, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of difficult to establish complex system model, complex controller structure, etc., achieve simple controller structure, avoid The effect that is not easy to achieve and the theory is perfect

Inactive Publication Date: 2016-04-13
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an optimal control method based on a data-driven single network structure, so as to meet technical problems such as difficulty in establishing complex system models and complex controller structures

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  • Optimal control method based on data-driven single network structure
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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] The nonlinear system studied by the present invention can be expressed as follows:

[0029] x · = f ( x ( t ) ) + g ( x ( t ) ) u ( t )

[0030] Among them, x(t) is the system state variable with x appearing below t , f(x(t)) is the internal dynamic characteristics of the system, g(x(t)) is the input coupling matrix, u(t) is the control input vector and u appears below t . The initial state of the system is x(0)=x 0 , and f(x(t))+g(x(t))u(t) satisfies Lipschitz stability. For the sake of brevity, x(t) will be abbreviated as x and u(t) will be abbrev...

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Abstract

The invention discloses an optimal control method based on a data-driven single network structure. By continuously updating training samples and adding to an LS-SVM model, the partial derivative of a system state variable x for the optimal performance index function is approximated on line, and then the optimal control law is directly obtained by calculation according to the optimal control law expression. In this way, the controller network is saved, so that the structure becomes simpler. In addition, the calculation procedures involved in each iteration of the traditional computing method are reduced, thereby increasing the execution speed.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to an optimal control method based on a data-driven single network structure. Background technique [0002] In the 1950s and 1960s, driven by the development of space technology and the practical application of digital computers, optimal control technology played a mainstay role in complex systems such as aerospace, industrial production, communication systems, and robot systems. Optimal control is the basic condition and comprehensive method to minimize the performance index of the control system. The main problem of its research is: according to the established time-domain mathematical model or frequency-domain mathematical model of the controlled object, select an admissible control law to make the controlled object operate according to the predetermined requirements, and make a given performance index reach The optimal value. [0003] Adaptive dynamic programming has develop...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02
CPCG05B13/0265
Inventor 孙景亮刘春生魏阿龙于洋陈宇郭帅牛彦沣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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