Decentralized Event-Triggered Control for a Class of Nonlinear-Interconnected Systems Using Reinforcement Learning
Decentralized Event-Triggered Control for a Class of Nonlinear-Interconnected Systems Using Reinforcement Learning
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DOI：
10.1109/tcyb.2019.2946122
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发表时间：
2019-10
影响因子：
11.8
通讯作者：
Xiong Yang;Haibo He
中科院分区：
文献类型：
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作者：
Xiong Yang;Haibo He
在本文中，我们提出了一个新型的分散事件触发的控制（ETC）方案，用于一类具有匹配互连的连续时间非线性系统。较长的假定为零。然后，为了获得这些最佳的法律，我们开发了一个基于强化的方法（RL），以解决汉密尔顿– jacobi – bellman方程，在折扣成本的最佳等问题中，我们只是在名义子系统的最佳问题上。使用关键网络来实现基于RL的方法，并使用梯度下降方法和并发学习技术一起调整关键网络权重向量。不仅能够放松兴奋状况的持久性，还可以通过利用Lyapunov方法来确保临界网络权重矢量最终统一。从最终的意义上讲，我们通过模拟从两个连接的两个倒置的摆构成的非线性间隔系统来验证提出的分散式ETC策略通过春天。
In this article, we propose a novel decentralized event-triggered control (ETC) scheme for a class of continuous-time nonlinear systems with matched interconnections. The present interconnected systems differ from most of the existing interconnected plants in that their equilibrium points are no longer assumed to be zero. Initially, we establish a theorem to indicate that the decentralized ETC law for the overall system can be represented by an array of optimal ETC laws for nominal subsystems. Then, to obtain these optimal ETC laws, we develop a reinforcement learning (RL)-based method to solve the Hamilton–Jacobi–Bellman equations arising in the discounted-cost optimal ETC problems of the nominal subsystems. Meanwhile, we only use critic networks to implement the RL-based approach and tune the critic network weight vectors by using the gradient descent method and the concurrent learning technique together. With the proposed weight vectors tuning rule, we are able to not only relax the persistence of the excitation condition but also ensure the critic network weight vectors to be uniformly ultimately bounded. Moreover, by utilizing the Lyapunov method, we prove that the obtained decentralized ETC law can force the entire system to be stable in the sense of uniform ultimate boundedness. Finally, we validate the proposed decentralized ETC strategy through simulations of the nonlinear-interconnected systems derived from two inverted pendulums connected via a spring.