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Optimal event-triggered control of uncertain linear networked control systems: A co-design approach

机译：不确定线性网络控制系统的最优事件触发控制：一种协同设计方法

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摘要

In this paper, a co-design approach for event-based optimal state regulation of an uncertain linear networked control system is presented. Both the transmission intervals and the control policy are optimized by introducing a novel performance index such that the error in the control policy due to event-based transmission can be maximized. The event-triggering mechanism uses the worst case control input error as threshold to decide the optimal transmission instants. Stochastic Q-learning approach is used to design both the control policy and event-triggering condition without explicit knowledge of the system dynamics. The event-based Q-function parameters are updated using a hybrid scheme both at triggering instants and during inter-event times to accelerate the parameter convergence. The asymptotic stability in the mean square of the closed-loop system is demonstrated using Lyapunov analysis with the assumptions of persistence of excitation of regression vector. Finally, numerical results are included to substantiate the analytical design.
机译：在本文中，提出了一种用于不确定线性网络控制系统的基于事件的最优状态调节的协同设计方法。通过引入新颖的性能指标来优化传输间隔和控制策略，从而可以使由于基于事件的传输而导致的控制策略中的错误最大化。事件触发机制使用最坏情况的控制输入错误作为阈值来确定最佳传输时刻。随机Q学习方法用于设计控制策略和事件触发条件，而无需明确了解系统动力学。基于事件的Q函数参数在触发时刻和事件间时间使用混合方案进行更新，以加速参数收敛。使用Lyapunov分析并假设回归矢量的激励持续存在，证明了闭环系统均方值的渐近稳定性。最后，包括数值结果以证实分析设计。

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