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An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems
Yang, Xiong1; Wei, Qinglai2
Source PublicationINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN1049-8923
2018-12-01
Volume28Issue:18Pages:5747-5765
Corresponding AuthorYang, Xiong(xiong.yang@tju.edu.cn)
AbstractThis 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.
Keywordconstrained input mismatched uncertainties off-policy iteration reinforcement learning robust stabilization
DOI10.1002/rnc.4342
WOS KeywordH-INFINITY CONTROL ; CONTINUOUS-TIME SYSTEMS ; TRACKING CONTROL ; REINFORCEMENT ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61503379] ; National Natural Science Foundation of China[61722312] ; China Scholarship Council under the State Scholarship Fund
Funding OrganizationNational Natural Science Foundation of China ; China Scholarship Council under the State Scholarship Fund
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000450110800005
PublisherWILEY
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22564
Collection智能化团队
Corresponding AuthorYang, Xiong
Affiliation1.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
Recommended Citation
GB/T 7714
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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