Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming

doi:10.1109/TIE.2016.2597763

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 深度强化学习

	Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming
	Zhu, Yuanheng1,2 ; Zhao, Dongbin1,3 ; He, Haibo 4; Ji, Junhong 2
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017-05-01
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
DOI	10.1109/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	被引频次：169[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/15266
专题	多模态人工智能系统全国重点实验室_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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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