Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties
Wang, Ding1,3; Li, Chao1; Liu, Derong2; Mu, Chaoxu3
2016-10-20
发表期刊INFORMATION SCIENCES
期号366页码:121-133
文章类型Article
摘要In 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.
关键词Adaptive Dynamic Programming Data-based Control Integral Policy Iteration Matched Uncertainties Neural Networks Robust Optimal Control
WOS标题词Science & Technology ; Technology
DOI10.1016/j.ins.2016.05.034
关键词[WOS]OPTIMAL-CONTROL DESIGN ; POLICY ITERATION ; ALGORITHM
收录类别SCI
语种英语
项目资助者National 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研究方向Computer Science
WOS类目Computer Science, Information Systems
WOS记录号WOS:000380068900007
引用统计
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/173211/12164
专题复杂系统管理与控制国家重点实验室_平行控制
作者单位1.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
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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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