Knowledge Commons of Institute of Automation，CAS
| Guaranteed cost neural tracking control for a class of uncertain nonlinear systems using adaptive dynamic programming | |
Yang, Xiong ; Liu, Derong; Wei, Qinglai; Wang, Ding
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| 发表期刊 | Neurocomputing
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| 2016 | |
| 卷号 | 198期号:wu页码:80 |
| 摘要 | This paper presents an adaptive dynamic programming-based guaranteed cost neural tracking control algorithm for a class of continuous-time matched uncertain nonlinear systems. By introducing an augmented system and employing a modified cost function with a discount factor, the guaranteed cost tracking control problem is transformed into an optimal tracking control problem. Unlike existing optimal tracking control algorithms often requiring the control matrix to be invertible, the developed control algorithm relaxes this restrictive condition under the assumption that the system is controllable. A single critic neural network (NN) is constructed to approximate the solution of the modified Hamilton-Jacobi-Bellman equation corresponding to the nominal augmented error dynamics. Utilizing the newly developed critic NN, the optimal tracking control can be derived without policy iteration. All signals in the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov's direct method. In addition, the developed control scheme is verified to guarantee that the tracking errors converge to an adjustable neighborhood of the origin. Two numerical examples are provided to illustrate the effectiveness and applicability of the developed approach. |
| 关键词 | Adaptive Dynamic Programming Guaranteed Cost Control Hamilton-jacobi-bellman Equation Neural Network Nonlinear System Reinforcement Learning |
| DOI | 10.1016/j.neucom.2015.08.119 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/13636 |
| 专题 | 多模态人工智能系统全国重点实验室_复杂系统智能机理与平行控制团队 |
| 推荐引用方式 GB/T 7714 | Yang, Xiong,Liu, Derong,Wei, Qinglai,et al. Guaranteed cost neural tracking control for a class of uncertain nonlinear systems using adaptive dynamic programming[J]. Neurocomputing,2016,198(wu):80. |
| APA | Yang, Xiong,Liu, Derong,Wei, Qinglai,&Wang, Ding.(2016).Guaranteed cost neural tracking control for a class of uncertain nonlinear systems using adaptive dynamic programming.Neurocomputing,198(wu),80. |
| MLA | Yang, Xiong,et al."Guaranteed cost neural tracking control for a class of uncertain nonlinear systems using adaptive dynamic programming".Neurocomputing 198.wu(2016):80. |
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| [00-J-2016-Neucom] G（1487KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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