CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 平行控制
Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems
Yang, Xiong; Liu, Derong; Ma, Hongwen; Xu, Yancai
Source PublicationINFORMATION SCIENCES
2016-01-20
Volume328Pages:435-454
SubtypeArticle
AbstractThis paper is concerned with the approximate solution of Hamilton-Jacobi-Isaacs (HJI) equation for constrained-input nonlinear continuous-time systems with unknown dynamics. We develop a novel online adaptive dynamic programming-based algorithm to learn the solution of the HJI equation. The present algorithm is implemented via an identifier-critic architecture, which consists of two neural networks (NNs): an identifier NN is applied to estimate the unknown system dynamics and a critic NN is constructed to obtain the approximate solution of the HJI equation. An advantage of the proposed architecture is that the identifier NN and the critic NN are tuned simultaneously. With introducing two additional terms, namely, the stabilizing term and the robustifying term to update the critic NN, the initial stabilizing control is no longer required. Meanwhile, the developed critic tuning rule not only ensures convergence of the critic to the optimal saddle point but also guarantees stability of the closed-loop system. Moreover, the uniform ultimate boundedness of the weights of the identifier NN and the critic NN are proved by using Lyapunov's direct method. Finally, to illustrate the effectiveness and applicability of the developed approach, two simulation examples are provided. (C) 2015 Elsevier Inc. All rights reserved.
KeywordAdaptive Dynamic Programming Hamilton-jacobi-isaacs Equation Input Constraint Neural Network Optimal Control Reinforcement Learning
WOS HeadingsScience & Technology ; Technology
DOI10.1016/j.ins.2015.09.001
WOS KeywordZERO-SUM GAMES ; DYNAMIC-PROGRAMMING ALGORITHM ; ADAPTIVE OPTIMAL-CONTROL ; STATE-FEEDBACK CONTROL ; H-INFINITY CONTROL ; LEARNING ALGORITHM ; NEURAL-NETWORKS ; CONTROL DESIGN ; ARCHITECTURE ; FORMULATION
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61034002 ; Beijing Natural Science Foundation(4132078) ; Early Career Development Award of the State Key Laboratory of Management and Control for Complex Systems (SKLMCCS) ; 61233001 ; 61273140 ; 61304086 ; 61374105)
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000365054800028
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/10518
Collection复杂系统管理与控制国家重点实验室_平行控制
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Yang, Xiong,Liu, Derong,Ma, Hongwen,et al. Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems[J]. INFORMATION SCIENCES,2016,328:435-454.
APA Yang, Xiong,Liu, Derong,Ma, Hongwen,&Xu, Yancai.(2016).Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems.INFORMATION SCIENCES,328,435-454.
MLA Yang, Xiong,et al."Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems".INFORMATION SCIENCES 328(2016):435-454.
Files in This Item: Download All
File Name/Size DocType Version Access License
Online approximate s(833KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yang, Xiong]'s Articles
[Liu, Derong]'s Articles
[Ma, Hongwen]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yang, Xiong]'s Articles
[Liu, Derong]'s Articles
[Ma, Hongwen]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yang, Xiong]'s Articles
[Liu, Derong]'s Articles
[Ma, Hongwen]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.