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An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems
Yang, Xiong1; Wei, Qinglai2
发表期刊INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN1049-8923
2018-12-01
卷号28期号:18页码:5747-5765
通讯作者Yang, Xiong(xiong.yang@tju.edu.cn)
摘要This paper studies the robust stabilization problem of constrained-input nonlinear systems with mismatched uncertainties. Initially, the robust stabilization problem is converted into a constrained H-2 optimal control problem by providing a proper infinite-horizon cost function for the auxiliary system. It is demonstrated that the solution of the constrained H-2 optimal control problem can force the original system to be stable in the sense of uniform ultimate boundedness. Then, under the framework of reinforcement learning, an off-policy iteration algorithm is proposed to solve the constrained H-2 optimal control problem. The off-policy iteration algorithm is implemented by using two kinds of approximators. That is, the critic approximator is applied to approximate the optimal cost function and the actor approximator is used to approximate the augmented optimal control. The method of weighted residuals together with the Monte-Carlo integration technique is employed to determine the weight parameters of critic and actor approximators. Finally, two examples, including a pendulum system, are presented to validate the proposed control algorithm.
关键词constrained input mismatched uncertainties off-policy iteration reinforcement learning robust stabilization
DOI10.1002/rnc.4342
关键词[WOS]H-INFINITY CONTROL ; CONTINUOUS-TIME SYSTEMS ; TRACKING CONTROL ; REINFORCEMENT ; DESIGN
收录类别SCI
语种英语
资助项目National Natural Science Foundation of China[61503379] ; National Natural Science Foundation of China[61722312] ; China Scholarship Council under the State Scholarship Fund
项目资助者National Natural Science Foundation of China ; China Scholarship Council under the State Scholarship Fund
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:000450110800005
出版者WILEY
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22564
专题智能化团队
通讯作者Yang, Xiong
作者单位1.Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
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Yang, Xiong,Wei, Qinglai. An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2018,28(18):5747-5765.
APA Yang, Xiong,&Wei, Qinglai.(2018).An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,28(18),5747-5765.
MLA Yang, Xiong,et al."An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 28.18(2018):5747-5765.
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