Adaptive Critic Design for Pure-Feedback Discrete-Time MIMO Systems Preceded by Unknown Backlashlike Hysteresis

作者：Tang, Li; Liu, Yan-Jun^*; Chen, C. L. Philip

来源：IEEE Transactions on Neural Networks and Learning Systems, 2018, 29(11): 5681-5690.

DOI：10.1109/TNNLS.2018.2805689

• Adaptive critic design (ACD)
• backlashlike hysteresis
• neural networks (NNs)
• nonlinear pure-feedback systems
• optimal control

This paper concentrates on the adaptive critic design (ACD) issue for a class of uncertain multi-input multioutput (MIMO) nonlinear discrete-time systems preceded by unknown backlashlike hysteresis. The considered systems are in a block-triangular pure-feedback form, in which there exist nonaffine functions and couplings between states and inputs. This makes that the ACD-based optimal control becomes very difficult and complicated. To this end, the mean value theorem is employed to transform the original systems into input-output models. Based on the reinforcement learning algorithm, the optimal control strategy is established with an actor-critic structure. Not only the stability of the systems is ensured but also the performance index is minimized. In contrast to the previous results, the main contributions are: 1) it is the first time to build an ACD framework for such MIMO systems with unknown hysteresis and 2) an adaptive auxiliary signal is developed to compensate the influence of hysteresis. In the end, a numerical study is provided to demonstrate the effectiveness of the present method.

• 出版日期2018-11
• 单位东北大学; 澳门大学; 大连海事大学; 辽宁工业大学