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Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System | |
Wang, Ding; Mu, Chaoxu1,2,3,4 | |
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 | SKLMCCS ; China Postdoctoral Science Foundation[2014M561559] ; State Key Laboratory of Management and Control for Complex Systems[20170105] ; Tianjin Natural Science Foundation[14JCQNJC05400] ; National Natural Science Foundation of China[U1501251] ; Beijing Natural Science Foundation[4162065] ; 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 | |
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. |
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