Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties | |
Wang, Ding1,3; Li, Chao1; Liu, Derong2; Mu, Chaoxu3 | |
发表期刊 | INFORMATION SCIENCES |
2016-10-20 | |
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 |
DOI | 10.1016/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 | |
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_复杂系统智能机理与平行控制团队 |
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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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