Tracking Control for Linear Discrete-Time Networked Control Systems With Unknown Dynamics and Dropout.

Abstract

This paper develops a new method for solving the optimal control tracking problem for networked control systems (NCSs), where network-induced dropout can occur and the system dynamics are unknown. First, a novel dropout Smith predictor is designed to predict the current state based on historical data measurements over the communication network. Then, it is shown that the quadratic form of the performance index is preserved even with dropout, and the optimal tracker solution with dropout is given based on a novel dropout generalized algebraic Riccati equation. New algorithms for off-line policy iteration (PI), online PI, and Q-learning PI are presented for NCS with dropout. The Q-learning algorithm adaptively learns the optimal control online using data measured over the communication network based on reinforcement learning, including dropout, without requiring any knowledge of the system dynamics. Simulation results are provided to show that the proposed approaches give proper optimal tracking performance for the NCS with unknown dynamics and dropout.