Online identifier-actor-critic algorithm for optimal control of nonlinear systems
Lin, Hanquan1; Wei, Qinglai1; Liu, Derong2
2017-05-01
发表期刊OPTIMAL CONTROL APPLICATIONS & METHODS
卷号38期号:3页码:317-335
文章类型Article
摘要In this paper, a novel identifier-actor-critic optimal control scheme is developed for discrete-time affine nonlinear systems with uncertainties. In contrast to traditional adaptive dynamic programming methodology, which requires at least partial knowledge of the system dynamics, a neural-network identifier is employed to learn the unknown control coefficient matrix working together with actor-critic-based scheme to solve the optimal control online. The critic network learns the approximate value function at each step. The actor network attempts to improve the current policy based on the approximate value function. The weights of all neural networks are updated at each sampling instant. Lyapunov theory is utilized to prove the stability of closed-loop system. It shows that system states and neural network weights are uniformly ultimately bounded. Finally, simulations are provided to illustrate the effectiveness of the developed method. Copyright (C) 2016 John Wiley & Sons, Ltd.
关键词Adaptive Dynamic Programming Optimal Control Discrete-time Nonlinear System Neural Network Online Learning Lyapunov Method
WOS标题词Science & Technology ; Technology ; Physical Sciences
DOI10.1002/oca.2259
关键词[WOS]DISCRETE-TIME-SYSTEMS ; OPTIMAL TRACKING CONTROL ; INPUT-OUTPUT DATA ; POLICY ITERATION ; DYNAMICS ; DESIGNS
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(4132078) ; Early Career Development Award of SKLMCCS ; 61273140 ; 61304086 ; 61374105)
WOS研究方向Automation & Control Systems ; Operations Research & Management Science ; Mathematics
WOS类目Automation & Control Systems ; Operations Research & Management Science ; Mathematics, Applied
WOS记录号WOS:000400964800002
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15111
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
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Lin, Hanquan,Wei, Qinglai,Liu, Derong. Online identifier-actor-critic algorithm for optimal control of nonlinear systems[J]. OPTIMAL CONTROL APPLICATIONS & METHODS,2017,38(3):317-335.
APA Lin, Hanquan,Wei, Qinglai,&Liu, Derong.(2017).Online identifier-actor-critic algorithm for optimal control of nonlinear systems.OPTIMAL CONTROL APPLICATIONS & METHODS,38(3),317-335.
MLA Lin, Hanquan,et al."Online identifier-actor-critic algorithm for optimal control of nonlinear systems".OPTIMAL CONTROL APPLICATIONS & METHODS 38.3(2017):317-335.
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