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Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis
Zhao, Dongbin; Xia, Zhongpu; Wang, Ding
Source PublicationIEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
2015-10-01
Volume12Issue:4Pages:1461-1468
SubtypeArticle
AbstractIn 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.
KeywordAction Dependent Heuristic Dynamic Programming Adaptive Dynamic Programming Model-free Optimal Control Neural Networks Policy Iteration
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TASE.2014.2348991
WOS KeywordDISCRETE-TIME-SYSTEMS ; REINFORCEMENT
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000362358500028
Citation statistics
Cited Times:26[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10038
Collection复杂系统管理与控制国家重点实验室_深度强化学习
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
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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