ADP based optimal tracking control for a class of linear discrete-time system with multiple delays

In this paper, a new optimal tracking control scheme for a class of linear discrete-time systems with multiple delays is proposed using an iterative adaptive dynamic programming algorithm. First, the minimum delays equivalent system of the original system with multiple delays is derived based on the coordinate transformation technique, and then the corresponding Bellman equation and Q-function are presented, respectively. Then, a model-free optimal tracking controller is designed to minimize the augmented quadratic performance index based on the adaptive dynamic programming algorithm, which without requiring any knowledge of the system dynamics. Simulation results show the effectiveness of the proposed control scheme.