|A neural-network-based online optimal control approach for nonlinear robust decentralized stabilization|
|Wang, Ding; Liu, Derong; Li, Hongliang; Ma, Hongwen; Li, Chao
|摘要||In this paper, the robust decentralized stabilization of continuous-time uncertain nonlinear systems with multi control stations is developed using a neural network based online optimal control approach. The novelty lies in that the well-known adaptive dynamic programming method is extended to deal with the nonlinear feedback control problem under uncertain and large-scale environment. Through introducing an appropriate bounded function and defining a modified cost function, it can be observed that the decentralized optimal controller of the nominal system can achieve robust decentralized stabilization of original uncertain system. Then, a critic neural network is constructed for solving the modified Hamilton-Jacobi-Bellman equation corresponding to the nominal system in an online fashion. The weights of the critic network are tuned based on the standard steepest descent algorithm with an additional term provided to guarantee the boundedness of system states. The stability analysis of the closed-loop system is carried out via the Lyapunov approach. At last, two simulation examples are given to verify the effectiveness of the present control approach.|
|关键词||Adaptive Dynamic Programming
Approximate Dynamic Programming
Online Optimal Control
Robust Decentralized Stabilization
Uncertain Nonlinear Systems
|WOS标题词||Science & Technology
; TRACKING CONTROL
; POLICY UPDATE
; HJB SOLUTION
|项目资助者||National Natural Science Foundation of China(61034002
; Beijing Natural Science Foundation(4132078)
; Early Career Development Award of SKLMCCS
|WOS类目||Computer Science, Artificial Intelligence
; Computer Science, Interdisciplinary Applications
|作者单位||Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China|
Wang, Ding,Liu, Derong,Li, Hongliang,et al. A neural-network-based online optimal control approach for nonlinear robust decentralized stabilization[J]. SOFT COMPUTING,2016,20(2):707-716.
Wang, Ding,Liu, Derong,Li, Hongliang,Ma, Hongwen,&Li, Chao.(2016).A neural-network-based online optimal control approach for nonlinear robust decentralized stabilization.SOFT COMPUTING,20(2),707-716.
Wang, Ding,et al."A neural-network-based online optimal control approach for nonlinear robust decentralized stabilization".SOFT COMPUTING 20.2(2016):707-716.