Multidimensional-Taylor-network-based robust optimal tracking control for MIMO nonlinear discrete-time systems

Abstract

In practical engineering, system control is indispensable. However, due to the influence of model uncertainty, speed unavailability, input nonlinearity (such as actuator dead zone/fault), and multi-input coupling, the control results are not satisfactory. In this paper, a robust optimal tracking control strategy is proposed for a class of nonlinear multi-input-multi-output discrete-time systems with unknown uncertainties. This control strategy is to minimize the cost function in the process of uncertainty processing and stabilize the closed-loop system by establishing an adaptive controlling approach based on a combination of actor MTN and critic MTN based on the Multi-dimensional Taylor Network (MTN). By using the approximation property of MTN, the optimal control signal is generated by action MTN, which is used to approach the controller, and the cost function is approximated by critic MTN, which is tuned online because the cost function cannot be obtained in hands-on experience. By designing a new cost function, the amount of calculation in the control process is reduced, and the adaptive critic design control idea is integrated into the controller design to deal with the uncertainty of the system. The simulation results verify the effectiveness of the control strategy proposed in the essay.