An adaptive critic approach to event-triggered robust control of nonlinear systems with unmatched uncertainties
Yang, Xiong1; He, Haibo2; Wei, Qinglai3
2018-07-10
发表期刊INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷号28期号:10页码:3501-3519
文章类型Article
摘要In this paper, we develop a novel event-triggered robust control strategy for continuous-time nonlinear systems with unmatched uncertainties. First, we build a relationship to show that the event-triggered robust control can be obtained by solving an event-triggered nonlinear optimal control problem of the auxiliary system. Then, within the framework of reinforcement learning, we propose an adaptive critic approach to solve the event-triggered nonlinear optimal control problem. Unlike typical actor-critic dual approximators used in reinforcement learning, we employ a unique critic approximator to derive the solution of the event-triggered Hamilton-Jacobi-Bellman equation arising in the nonlinear optimal control problem. The critic approximator is updated via the gradient descent method, and the persistence of excitation condition is necessary. Meanwhile, under a newly proposed event-triggering condition, we prove that the developed critic approximator update rule guarantees all signals in the auxiliary closed-loop system to be uniformly ultimately bounded. Moreover, we demonstrate that the obtained event-triggered optimal control can ensure the original system to be stable in the sense of uniform ultimate boundedness. Finally, a F-16 aircraft plant and a nonlinear system are provided to validate the present event-triggered robust control scheme.
关键词Adaptive Critic Approach Event-triggered Control Reinforcement Learning Robust Control Unmatched Uncertainty
WOS标题词Science & Technology ; Technology ; Physical Sciences
DOI10.1002/rnc.4096
关键词[WOS]CONTINUOUS-TIME SYSTEMS ; TRACKING CONTROL ; DESIGN
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61503379) ; China Scholarship Council under the State Scholarship Fund ; US National Science Foundation(CMMI 1526835)
WOS研究方向Automation & Control Systems ; Engineering ; Mathematics
WOS类目Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号WOS:000434118800009
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22051
专题复杂系统管理与控制国家重点实验室_智能化团队
作者单位1.Tianjin Univ, Sch Elect & Informat Engn, Tianjin, Peoples R China
2.Univ Rhode Isl, Dept Elect Comp & Biomed Engn, Kingston, RI 02881 USA
3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
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Yang, Xiong,He, Haibo,Wei, Qinglai. An adaptive critic approach to event-triggered robust control of nonlinear systems with unmatched uncertainties[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2018,28(10):3501-3519.
APA Yang, Xiong,He, Haibo,&Wei, Qinglai.(2018).An adaptive critic approach to event-triggered robust control of nonlinear systems with unmatched uncertainties.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,28(10),3501-3519.
MLA Yang, Xiong,et al."An adaptive critic approach to event-triggered robust control of nonlinear systems with unmatched uncertainties".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 28.10(2018):3501-3519.
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