Policy Iteration for Hinfinity Optimal Control of Polynomial Nonlinear Systems via Sum of Squares Programming
Yuanheng Zhu; Zhao DB(赵冬斌)
2017
发表期刊IEEE Transactions on Cybernetics
期号PP页码:1-9
摘要
Sum of squares (SOS) polynomials have provided acomputationally tractable way to deal with inequality constraintsappearing in many control problems. It can also act as an approx-imator in the framework of adaptive dynamic programming. Inthis paper, an approximate solution to theH∞optimal control ofpolynomial nonlinear systems is proposed. Under a given attenu-ation coefficient, the Hamilton–Jacobi–Isaacs equation is relaxedto an optimization problem with a set of inequalities. After apply-ing  the  policy  iteration  technique  and  constraining  inequalitiesto  SOS,  the  optimization  problem  is  divided  into  a  sequenceof  feasible  semidefinite  programming  problems.  With  the  con-verged  solution,  the  attenuation  coefficient  is  further  minimizedto  a  lower  value.  After  iterations,  approximate  solutions  to  thesmallestL2-gain  and  the  associatedH∞optimal  controller  areobtained. Four examples are employed to verify the effectivenessof the  proposed  algorithm.
关键词Adaptive Dynamic Programming (Adp) H∞ Optimal Control Policy Iteration (Pi) Polynomial Nonlinear Systems Sum Of Squares (Sos)
收录类别SCI
语种英语
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/15284
专题复杂系统管理与控制国家重点实验室_深度强化学习
作者单位中国科学院自动化研究所
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Yuanheng Zhu,Zhao DB. Policy Iteration for Hinfinity Optimal Control of Polynomial Nonlinear Systems via Sum of Squares Programming[J]. IEEE Transactions on Cybernetics,2017(PP):1-9.
APA Yuanheng Zhu,&Zhao DB.(2017).Policy Iteration for Hinfinity Optimal Control of Polynomial Nonlinear Systems via Sum of Squares Programming.IEEE Transactions on Cybernetics(PP),1-9.
MLA Yuanheng Zhu,et al."Policy Iteration for Hinfinity Optimal Control of Polynomial Nonlinear Systems via Sum of Squares Programming".IEEE Transactions on Cybernetics .PP(2017):1-9.
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