Knowledge Commons of Institute of Automation，CAS
| Reinforcement learning for adaptive optimal control of unknown continuous-time nonlinear systems with input constraints | |
Yang, Xiong ; Liu, Derong; Wang, Ding
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| 发表期刊 | INTERNATIONAL JOURNAL OF CONTROL
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| 2014-03-04 | |
| 卷号 | 87期号:3页码:553-566 |
| 文章类型 | Article |
| 摘要 | In this paper, an adaptive reinforcement learning-based solution is developed for the infinite-horizon optimal control problem of constrained-input continuous-time nonlinear systems in the presence of nonlinearities with unknown structures. Two different types of neural networks (NNs) are employed to approximate the Hamilton-Jacobi-Bellman equation. That is, an recurrent NN is constructed to identify the unknown dynamical system, and two feedforward NNs are used as the actor and the critic to approximate the optimal control and the optimal cost, respectively. Based on this framework, the action NN and the critic NN are tuned simultaneously, without the requirement for the knowledge of system drift dynamics. Moreover, by using Lyapunov's direct method, the weights of the action NN and the critic NN are guaranteed to be uniformly ultimately bounded, while keeping the closed-loop system stable. To demonstrate the effectiveness of the present approach, simulation results are illustrated. |
| 关键词 | Adaptive Control Input Constraints Neural Networks Optimal Control Reinforcement Learning |
| WOS标题词 | Science & Technology ; Technology |
| 关键词[WOS] | DYNAMIC-PROGRAMMING ALGORITHM ; ARCHITECTURE ; NETWORKS ; DESIGN |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS研究方向 | Automation & Control Systems |
| WOS类目 | Automation & Control Systems |
| WOS记录号 | WOS:000332153200008 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/3856 |
| 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, State Key Lab Management & Control Complex Syst, Inst Automat, 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,Wang, Ding. Reinforcement learning for adaptive optimal control of unknown continuous-time nonlinear systems with input constraints[J]. INTERNATIONAL JOURNAL OF CONTROL,2014,87(3):553-566. |
| APA | Yang, Xiong,Liu, Derong,&Wang, Ding.(2014).Reinforcement learning for adaptive optimal control of unknown continuous-time nonlinear systems with input constraints.INTERNATIONAL JOURNAL OF CONTROL,87(3),553-566. |
| MLA | Yang, Xiong,et al."Reinforcement learning for adaptive optimal control of unknown continuous-time nonlinear systems with input constraints".INTERNATIONAL JOURNAL OF CONTROL 87.3(2014):553-566. |
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| Reinforcement learni（721KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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