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针对模型与实际存在一定差异的情况 ,提出了一种求解非线性离散系统最优控制的动态系统优化和参数估计集成 (DynamicIntegratedSystemOptimizationandParameterEstimation ,简称DISOPE)的研究法 .推导出一组求解一类有终端等式约束的非齐次的线性两点边值问题的递推公式 ,对于有终端等式约束的非线性最优控制问题得到了在计算上易于实现的一种DISOPE迭代算法 ,通过修正的基于模型优化和参数估计的迭代求解 ,获得实际控制问题的最优解 .给出了该算法收敛的一个充分条件 ,仿真例子说明了该算法的性能 .
Aiming at the situation that there is a certain difference between the model and the actual one, a dynamic system optimization and parameter estimation integration (Dynamic Optimization System, DISOPE) method for solving the optimal control of nonlinear discrete systems is proposed. For the non-homogeneous linear two-point boundary value problem recurrence formula with constraint, this paper presents a DISOPE iterative algorithm that is easy to implement for the nonlinear optimal control problem with terminal equality constraint. Through the modified model based on the model Optimization and parameter estimation iterative solution to obtain the optimal solution of the actual control problem.A sufficient condition for the convergence of the algorithm is given.The simulation example shows the performance of the algorithm.