Knowledge Commons of Institute of Automation，CAS
| Discrete-time online learning control for a class of unknown nonaffine nonlinear systems using reinforcement learning | |
Yang, Xiong ; Liu, Derong; Wang, Ding; Wei, Qinglai
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| 发表期刊 | NEURAL NETWORKS
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| 2014-07-01 | |
| 卷号 | 55页码:30-41 |
| 文章类型 | Article |
| 摘要 | In this paper, a reinforcement-learning-based direct adaptive control is developed to deliver a desired tracking performance for a class of discrete-time (DT) nonlinear systems with unknown bounded disturbances. We investigate multi-input-multi-output unknown nonaffine nonlinear DT systems and employ two neural networks (NNs). By using Implicit Function Theorem, an action NN is used to generate the control signal and it is also designed to cancel the nonlinearity of unknown DT systems, for purpose of utilizing feedback linearization methods. On the other hand, a critic NN is applied to estimate the cost function, which satisfies the recursive equations derived from heuristic dynamic programming. The weights of both the action NN and the critic NN are directly updated online instead of offline training. By utilizing Lyapunov's direct method, the closed-loop tracking errors and the NN estimated weights are demonstrated to be uniformly ultimately bounded. Two numerical examples are provided to show the effectiveness of the present approach. (C) 2014 Elsevier Ltd. All rights reserved. |
| 关键词 | Adaptive Critic Design Neural Network Nonaffine Nonlinear System Online Learning Reinforcement Learning |
| WOS标题词 | Science & Technology ; Technology ; Life Sciences & Biomedicine |
| 关键词[WOS] | NEURAL-NETWORK CONTROL ; OUTPUT-FEEDBACK CONTROL ; ADAPTIVE-CONTROL ; CONTROL SCHEME ; DESIGN ; ERROR ; APPROXIMATION ; ARCHITECTURE ; STATE ; NET |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS研究方向 | Computer Science ; Neurosciences & Neurology |
| WOS类目 | Computer Science, Artificial Intelligence ; Neurosciences |
| WOS记录号 | WOS:000337860600004 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/3864 |
| 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,Wang, Ding,et al. Discrete-time online learning control for a class of unknown nonaffine nonlinear systems using reinforcement learning[J]. NEURAL NETWORKS,2014,55:30-41. |
| APA | Yang, Xiong,Liu, Derong,Wang, Ding,&Wei, Qinglai.(2014).Discrete-time online learning control for a class of unknown nonaffine nonlinear systems using reinforcement learning.NEURAL NETWORKS,55,30-41. |
| MLA | Yang, Xiong,et al."Discrete-time online learning control for a class of unknown nonaffine nonlinear systems using reinforcement learning".NEURAL NETWORKS 55(2014):30-41. |
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| Discrete-time online（684KB） | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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