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Online identifier-actor-critic algorithm for optimal control of nonlinear systems
Lin, Hanquan1; Wei, Qinglai1; Liu, Derong2
Source PublicationOPTIMAL CONTROL APPLICATIONS & METHODS
2017-05-01
Volume38Issue:3Pages:317-335
SubtypeArticle
AbstractIn 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.
KeywordAdaptive Dynamic Programming Optimal Control Discrete-time Nonlinear System Neural Network Online Learning Lyapunov Method
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
DOI10.1002/oca.2259
WOS KeywordDISCRETE-TIME-SYSTEMS ; OPTIMAL TRACKING CONTROL ; INPUT-OUTPUT DATA ; POLICY ITERATION ; DYNAMICS ; DESIGNS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61233001 ; Beijing Natural Science Foundation(4132078) ; Early Career Development Award of SKLMCCS ; 61273140 ; 61304086 ; 61374105)
WOS Research AreaAutomation & Control Systems ; Operations Research & Management Science ; Mathematics
WOS SubjectAutomation & Control Systems ; Operations Research & Management Science ; Mathematics, Applied
WOS IDWOS:000400964800002
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Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15111
Collection复杂系统管理与控制国家重点实验室_平行控制
Affiliation1.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
Recommended Citation
GB/T 7714
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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