Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis
Zhao, Dongbin; Xia, Zhongpu; Wang, Ding
2015-10-01
发表期刊IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷号12期号:4页码:1461-1468
文章类型Article
摘要In this paper, a self-learning control scheme is proposed for the infinite horizon optimal control of affine nonlinear systems based on the action dependent heuristic dynamic programming algorithm. The policy iteration technique is introduced to derive the optimal control policy with feasibility and convergence analysis. It shows that the "greedy" control action for each state is uniquely existent, the learned control policy after each policy iteration is admissible, and the optimal control policy is able to be obtained. Two three-layer perceptron neural networks are employed to implement the scheme. The critic network is trained by a novel rule to conform to the Bellman equation, and the action network is trained to yield a better control policy. Both training processes alternate until the optimal control policy is achieved. Two simulation examples are provided to validate the effectiveness of the approach.
关键词Action Dependent Heuristic Dynamic Programming Adaptive Dynamic Programming Model-free Optimal Control Neural Networks Policy Iteration
WOS标题词Science & Technology ; Technology
DOI10.1109/TASE.2014.2348991
关键词[WOS]DISCRETE-TIME-SYSTEMS ; REINFORCEMENT
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000362358500028
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被引频次:26[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/10038
专题复杂系统管理与控制国家重点实验室_深度强化学习
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
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Zhao, Dongbin,Xia, Zhongpu,Wang, Ding. Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(4):1461-1468.
APA Zhao, Dongbin,Xia, Zhongpu,&Wang, Ding.(2015).Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(4),1461-1468.
MLA Zhao, Dongbin,et al."Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.4(2015):1461-1468.
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