Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming
Zhu, Yuanheng1,2; Zhao, Dongbin1,3; He, Haibo4; Ji, Junhong2
2017-05-01
发表期刊IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷号64期号:5页码:4101-4109
文章类型Article
摘要Event-triggered control has been an effective tool in dealing with problems with finite communication and computation resources. In this paper, we design an event-triggered control for nonlinear constrained-input continuous-time systems based on the optimal policy. Constraints on controls are handled using a bounded function. To learn the optimal solution with partially unknown dynamics, an online adaptive dynamic programming algorithm is proposed. The identifier network, the critic network, and the actor network are employed to approximate the unknown drift dynamics, the optimal value, and the optimal policy, respectively. The identifier is tuned based on online data, which further trains the critic and actor at triggering instants. A concurrent learning technique repeatedly uses past data to train the critic. Stability of the closed-loop system, and convergence of neural networks to the optimal solutions are proved by Lyapunov analysis. In the end, the algorithm is applied to the overhead crane system to observe the performance. The event-triggered optimal controller with constraints stabilizes the system and consumes much less sampling times.
关键词Actor-critic-identifier Concurrent Learning Constrained Input Event-triggered (Et) Control Hamilton-jacobi-bellman (Hjb) Equation
WOS标题词Science & Technology ; Technology
DOI10.1109/TIE.2016.2597763
关键词[WOS]CONTINUOUS-TIME SYSTEMS ; NONLINEAR-SYSTEMS ; EXPERIENCE REPLAY ; FEEDBACK
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61273136 ; Early Career Development Award of SKLMCCS ; State Key Laboratory of Robotics and Systems(SKLRS-2015-ZD-04) ; 61573353 ; 61533017 ; 51529701 ; 61520106009)
WOS研究方向Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号WOS:000399674000064
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15266
专题复杂系统管理与控制国家重点实验室_深度强化学习
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
3.Univ Chinese Acad Sci, Beijing 100190, Peoples R China
4.Univ Rhode Isl, Dept Elect Comp & Biomed Engn, Kingston, RI 02881 USA
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GB/T 7714
Zhu, Yuanheng,Zhao, Dongbin,He, Haibo,et al. Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(5):4101-4109.
APA Zhu, Yuanheng,Zhao, Dongbin,He, Haibo,&Ji, Junhong.(2017).Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(5),4101-4109.
MLA Zhu, Yuanheng,et al."Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.5(2017):4101-4109.
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