Data-Based Adaptive Dynamic Programming for a Class of Discrete-Time Systems With Multiple Delays
针对一类具有多重时滞的离散时间系统，提出一种仅利用输入输出数据的自适应动态规划控制方法，并证明了策略迭代和值迭代算法的收敛性。
In this paper, a data-based control method based on adaptive dynamic programming (ADP) algorithm is proposed for a class of discrete-time (DT) systems in the case of multiple delays. Data-based ADP method is implemented by virtue of the measured input and output data. The condition of the existence of the corresponding equivalent multiple delays system is derived according to the characteristics of time-delay system. A novel data-based state equation is developed that only composed of input and output data, which is very meaningful in practical applications. By using the data-based ADP method, the output feedback control problem is solved only by measuring the input and output of the system with multiple delays. The convergence proofs of the designed policy iteration and value iteration algorithms are given, respectively. The simulation example is presented to demonstrate the validity of the proposed data-based ADP method.