Adaptive dynamic programming-based decentralised control for large-scale nonlinear systems subject to mismatched interconnections with unknown time-delay

• Published in: International journal of systems science Vol. 51; no. 15; pp. 2883 - 2898
• Main Authors: Wu, Qiuye, Zhao, Bo, Liu, Derong
• Format: Journal Article
• Language: English
• Published: London Taylor & Francis 17.11.2020; Taylor & Francis Ltd
• Subjects: Adaptive control; Adaptive dynamic programming; decentralised control; Decentralized control; Delay; Dynamic programming; Interconnections; Iterative algorithms; large-scale nonlinear systems; Nonlinear control; Nonlinear systems; Optimal control; reinforcement learning; Robust control; unknown mismatched interconnection; unknown time-delay
• ISSN: 0020-7721; 1464-5319
• DOI: 10.1080/00207721.2020.1803439

This paper addresses decentralised optimal control problems for large-scale nonlinear systems subject to mismatched interconnections with unknown time-delay by adaptive dynamic programming. To eliminate the effects of mismatched interconnections with unknown time-delay, a novel local value function is constructed to transform the decentralised control problem into an optimal control problem. A local robust observer is established to identify the bound of the unknown interconnections. Then, based on the observer-critic architecture, the decentralised optimal control policy is achieved by solving local Hamiltonian-Jacobi-Bellman equation via local policy iteration algorithm. The stability of the closed-loop large-scale nonlinear system is guaranteed to be uniformly ultimately bounded by implementing a set of decentralised control policies. Simulation examples demonstrate the effectiveness of the proposed scheme.