Asynchronously <i>H</i>_∞ Tracking Control and Optimization for Switched Flight Vehicles with Time-Varying Delay

Abstract

The current paper verifies the asynchronous H∞ control and optimization problem for flight vehicles with a time-varying delay. The nonlinear dynamic model and Jacobian linearization establish the flight vehicle’s switched model. An asynchronous H∞ tracking controller is designed, considering the existing asynchronous switching between the controllers and corresponding subsystems. In order to promote transient efficiency, the tracking controller comprises the model-based part and the learning-based part. The model-based part guarantees stability and prescribed efficiency, and the learning-based part compensates for undesirable uncertainties. The multiple Lyapunov function (MLF) and mode-dependent average dwell time (MDADT) methods are utilized to guarantee stability and the specified attenuation efficiency. The existing conditions and the solutions of model-based sub-controllers are represented by linear matrix inequalities (LMIs). The deep Q learning (DQL) algorithm provides the learning-based part. Different from the conventional method, the controller parameters are scheduled online. Therefore, robustness, stability, and dynamic efficiency can be met simultaneously. A numerical example illustrates the efficiency and advantage of the presented approach.

Keywords

• asynchronous <i>H</i>_∞ control
• time-varying delay
• multiple Lyapunov function
• mode-dependent average dwell time
• LMI
• deep Q learning