Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances | |
Song, Ruizhuo1; Lewis, Frank L.2,3; Wei, Qinglai4; Zhang, Huaguang5 | |
发表期刊 | IEEE TRANSACTIONS ON CYBERNETICS |
2016-05-01 | |
卷号 | 46期号:5页码:1041-1050 |
文章类型 | Article |
摘要 | An optimal control method is developed for unknown continuous-time systems with unknown disturbances in this paper. The integral reinforcement learning (IRL) algorithm is presented to obtain the iterative control. Off-policy learning is used to allow the dynamics to be completely unknown. Neural networks are used to construct critic and action networks. It is shown that if there are unknown disturbances, off-policy IRL may not converge or may be biased. For reducing the influence of unknown disturbances, a disturbances compensation controller is added. It is proven that the weight errors are uniformly ultimately bounded based on Lyapunov techniques. Convergence of the Hamiltonian function is also proven. The simulation study demonstrates the effectiveness of the proposed optimal control method for unknown systems with disturbances. |
关键词 | Adaptive Critic Designs Adaptive/approximate Dynamic Programming (Adp) Dynamic Programming Off-policy Optimal Control Unknown System |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1109/TCYB.2015.2421338 |
关键词[WOS] | TIME NONLINEAR-SYSTEMS ; OPTIMAL TRACKING CONTROL ; ADAPTIVE OPTIMAL-CONTROL ; OPTIMAL-CONTROL SCHEME ; CONTROL DESIGN ; FEEDBACK-CONTROL ; LINEAR-SYSTEMS ; OUTPUT DATA ; ALGORITHM ; ITERATION |
收录类别 | SCI |
语种 | 英语 |
项目资助者 | National Natural Science Foundation of China(61304079 ; Beijing Natural Science Foundation(4132078 ; China Post-Doctoral Science Foundation(2013M530527) ; Fundamental Research Funds for the Central Universities(FRF-TP-14-119A2) ; Open Research Project from The State Key Laboratory of Management and Control for Complex Systems(20120106 ; NSF(ECCS-1128050) ; Office of Naval Research(N00014-13-1-0562) ; Air Force Office of Scientific Research through the European Office of Aerospace Research and Development(13-3055) ; U.S. Army Research Office(W911NF-11-D-0001) ; China National Natural Science Foundation of China(61120106011) ; China Education Ministry Project 111(B08015) ; 61374105 ; 4143065) ; 20150104) ; 61433004) |
WOS研究方向 | Computer Science |
WOS类目 | Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
WOS记录号 | WOS:000374989300001 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/12209 |
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.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 2.Univ Texas Arlington, UTA Res Inst, Ft Worth, TX 76118 USA 3.Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110004, Peoples R China |
推荐引用方式 GB/T 7714 | Song, Ruizhuo,Lewis, Frank L.,Wei, Qinglai,et al. Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances[J]. IEEE TRANSACTIONS ON CYBERNETICS,2016,46(5):1041-1050. |
APA | Song, Ruizhuo,Lewis, Frank L.,Wei, Qinglai,&Zhang, Huaguang.(2016).Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances.IEEE TRANSACTIONS ON CYBERNETICS,46(5),1041-1050. |
MLA | Song, Ruizhuo,et al."Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances".IEEE TRANSACTIONS ON CYBERNETICS 46.5(2016):1041-1050. |
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