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Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties
Wang, Ding1,3; Li, Chao1; Liu, Derong2; Mu, Chaoxu3
Source PublicationINFORMATION SCIENCES
2016-10-20
Issue366Pages:121-133
SubtypeArticle
AbstractIn this paper, the robust optimal control of continuous-time affine nonlinear systems with matched uncertainties is investigated by using a data-based integral policy iteration approach. It is a natural extension of the traditional optimal control design, under the framework of adaptive dynamic programming (ADP) method, to robust optimal control of nonlinear systems with matched uncertainties. In theoretical aspect, by increasing a feedback gain to the optimal controller of the nominal system, the robust controller of the matched uncertain system is obtained, which also achieves optimality with a newly well-defined cost function. When regarding the implementation, the data-based integral policy iteration algorithm is used to solve the Hamilton-Jacobi-Bellman equation corresponding to the nominal system with completely unknown dynamics information. Then, the actor-critic technique based on neural networks and least squares implementation method are employed to facilitate deriving the optimal control law iteratively, so that the closed-form expression of the robust optimal controller is available. Additionally, two simulation examples with application backgrounds are presented to illustrate the effectiveness of the established robust optimal control scheme. In summary, it is important to note that the result developed in this paper broadens the application scope of ADP-based optimal control approach to more general nonlinear systems possessing dynamical uncertainties. (C) 2016 Elsevier Inc. All rights reserved.
KeywordAdaptive Dynamic Programming Data-based Control Integral Policy Iteration Matched Uncertainties Neural Networks Robust Optimal Control
WOS HeadingsScience & Technology ; Technology
DOI10.1016/j.ins.2016.05.034
WOS KeywordOPTIMAL-CONTROL DESIGN ; POLICY ITERATION ; ALGORITHM
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61233001 ; Beijing Natural Science Foundation(4162065) ; Tianjin Natural Science Foundation(14JCQNJC05400) ; Research Fund of Tianjin Key Laboratory of Process Measurement and Control(TKLPMC-201612) ; Early Career Development Award of SKLMCCS ; 61273140 ; 61304018 ; 61304086 ; 61533017 ; L11501251 ; 61411130160)
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000380068900007
Citation statistics
Cited Times:26[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12164
Collection复杂系统管理与控制国家重点实验室_平行控制
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
3.Tianjin Univ, Sch Elect Engn & Automat, Tianjin Key Lab Proc Measurement & Control, Tianjin 300072, Peoples R China
Recommended Citation
GB/T 7714
Wang, Ding,Li, Chao,Liu, Derong,et al. Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties[J]. INFORMATION SCIENCES,2016(366):121-133.
APA Wang, Ding,Li, Chao,Liu, Derong,&Mu, Chaoxu.(2016).Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties.INFORMATION SCIENCES(366),121-133.
MLA Wang, Ding,et al."Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties".INFORMATION SCIENCES .366(2016):121-133.
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