Knowledge Commons of Institute of Automation，CAS
| Online approximate optimal control for affine non-linear systems with unknown internal dynamics using adaptive dynamic programming | |
Yang, Xiong ; Liu, Derong; Wei, Qinglai
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| 发表期刊 | IET CONTROL THEORY AND APPLICATIONS
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| 2014-11-06 | |
| 卷号 | 8期号:16页码:1676-1688 |
| 文章类型 | Article |
| 摘要 | In this study, a novel online adaptive dynamic programming (ADP)-based algorithm is developed for solving the optimal control problem of affine non-linear continuous-time systems with unknown internal dynamics. The present algorithm employs an observer-critic architecture to approximate the Hamilton-Jacobi-Bellman equation. Two neural networks (NNs) are used in this architecture: an NN state observer is constructed to estimate the unknown system dynamics and a critic NN is designed to derive the optimal control instead of typical action-critic dual networks employed in traditional ADP algorithms. Based on the developed architecture, the observer NN and the critic NN are tuned simultaneously. Meanwhile, unlike existing tuning laws for the critic, the newly developed critic update rule not only ensures convergence of the critic to the optimal control but also guarantees stability of the closed-loop system. No initial stabilising control is required, and by using recorded and instantaneous data simultaneously for the adaptation of the critic, the restrictive persistence of excitation condition is relaxed. In addition, Lyapunov direct method is utilised to demonstrate the uniform ultimate boundedness of the weights of the observer NN and the critic NN. Finally, an example is provided to verify the effectiveness of the present approach. |
| WOS标题词 | Science & Technology ; Technology |
| 关键词[WOS] | LEARNING CONTROL ; CONTROL SCHEME ; REINFORCEMENT ; ARCHITECTURE ; ALGORITHM ; NETWORKS ; EQUATION ; DESIGN |
| 收录类别 | SCI |
| 语种 | 英语 |
| 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:000344554800008 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/3847 |
| 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 |
| 作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 第一作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | Yang, Xiong,Liu, Derong,Wei, Qinglai. Online approximate optimal control for affine non-linear systems with unknown internal dynamics using adaptive dynamic programming[J]. IET CONTROL THEORY AND APPLICATIONS,2014,8(16):1676-1688. |
| APA | Yang, Xiong,Liu, Derong,&Wei, Qinglai.(2014).Online approximate optimal control for affine non-linear systems with unknown internal dynamics using adaptive dynamic programming.IET CONTROL THEORY AND APPLICATIONS,8(16),1676-1688. |
| MLA | Yang, Xiong,et al."Online approximate optimal control for affine non-linear systems with unknown internal dynamics using adaptive dynamic programming".IET CONTROL THEORY AND APPLICATIONS 8.16(2014):1676-1688. |
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| Online approximate o（624KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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