Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System

doi:10.1109/TIE.2017.2722424

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 复杂系统智能机理与平行控制团队

	Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System
	Wang, Ding; Mu, Chaoxu 1,2,3,4
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2018
卷号	65 期号:1 页码:654-663
通讯作者	Mu, Chaoxu(cxmu@tju.edu.cn)
摘要	In this paper, the robust trajectory tracking design of uncertain nonlinear systems is investigated by virtue of a self-learning optimal control formulation. The primary novelty lies in that an effective learning based robust tracking control strategy is developed for nonlinear systems under a general uncertain environment. The augmented system construction is performed by combining the tracking error with the reference trajectory. Then, an improved adaptive critic technique, which does not depend on the initial stabilizing controller, is employed to solve the Hamilton-Jacobi-Bellman (HJB) equation with respect to the nominal augmented system. Using the obtained control law, the closed-loop form of the augmented system is built with stability proof. Moreover, the robust trajectory tracking performance is guaranteed via Lyapunov approach in theory and then through simulation demonstration, where an application to a practical spring-mass-damper system is included.
关键词	Adaptive critic design neural networks optimal control robust trajectory tracking self-learning control system uncertainty
DOI	10.1109/TIE.2017.2722424
关键词[WOS]	NONLINEAR-SYSTEMS ; DESIGN
收录类别	SCI
语种	英语
资助项目	Beijing Natural Science Foundation[4162065] ; National Natural Science Foundation of China[U1501251] ; Tianjin Natural Science Foundation[14JCQNJC05400] ; State Key Laboratory of Management and Control for Complex Systems[20170105] ; China Postdoctoral Science Foundation[2014M561559] ; SKLMCCS ; Beijing Natural Science Foundation[4162065] ; National Natural Science Foundation of China[U1501251] ; Tianjin Natural Science Foundation[14JCQNJC05400] ; State Key Laboratory of Management and Control for Complex Systems[20170105] ; China Postdoctoral Science Foundation[2014M561559] ; SKLMCCS
项目资助者	Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Tianjin Natural Science Foundation ; State Key Laboratory of Management and Control for Complex Systems ; China Postdoctoral Science Foundation ; SKLMCCS
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:000416221000065
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：75[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/173211/28218
专题	多模态人工智能系统全国重点实验室_复杂系统智能机理与平行控制团队
通讯作者	Mu, Chaoxu
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 100049, Peoples R China 3.Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Ding,Mu, Chaoxu. Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(1):654-663.
APA	Wang, Ding,&Mu, Chaoxu.(2018).Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(1),654-663.
MLA	Wang, Ding,et al."Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.1(2018):654-663.