Abstract
This article addresses the decentralized control problem of continuous-time nonlinear large-scale interconnected systems by the means of echo state network (ESN). The interconnected terms between the subsystems are treated as the disturbances added to the system dynamics, then the control problem is solved by the proposed robust controllers. By designing a cost function for the nominal subsystems, the robust controller is obtained by solving optimal controllers. The stability of the interconnected systems is proved by a composite Lyapunov function. The online adaptive dynamic program (ADP) method is employed to solve the transformed optimal problem, where a single ESN is utilized to approximate the critic cost and control policy. The optimal control policies of all the isolated subsystems are obtained simultaneously. The closed-loop stability of the feedback nominal systems is also proved, in a uniformly ultimately boundedness (UUB) manner. In the simulation, a large-scale interconnected system with four subsystems is provided to verify the effectiveness of the proposed decentralized controllers.
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