Parallel Control for Optimal Tracking via Adaptive Dynamic Programming

doi:10.1109/JAS.2020.1003426

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

	Parallel Control for Optimal Tracking via Adaptive Dynamic Programming
	Lu, Jingwei1,2 ; Wei, Qinglai1,2 ; Wang, Fei-Yue2,3,4
发表期刊	IEEE-CAA JOURNAL OF AUTOMATICA SINICA
ISSN	2329-9266
	2020-11-01
卷号	7 期号:6 页码:1662-1674
通讯作者	Wei, Qinglai(qinglai.wei@ia.ac.cn)
摘要	This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems. Unlike existing optimal state feedback control, the control input of the optimal parallel control is introduced into the feedback system. However, due to the introduction of control input into the feedback system, the optimal state feedback control methods can not be applied directly. To address this problem, an augmented system and an augmented performance index function are proposed firstly. Thus, the general nonlinear system is transformed into an affine nonlinear system. The difference between the optimal parallel control and the optimal state feedback control is analyzed theoretically. It is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index function. Moreover, an adaptive dynamic programming (ADP) technique is utilized to implement the optimal parallel tracking control using a critic neural network (NN) to approximate the value function online. The stability analysis of the closed-loop system is performed using the Lyapunov theory, and the tracking error and NN weights errors are uniformly ultimately bounded (UUB). Also, the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference signals. Finally, the effectiveness of the developed optimal parallel control method is verified in two cases.
关键词	Adaptive dynamic programming (ADP) nonlinear optimal control parallel controller parallel control theory parallel system tracking control neural network (NN)
DOI	10.1109/JAS.2020.1003426
关键词[WOS]	TIME NONLINEAR-SYSTEMS ; MANAGEMENT ; SCHEME
收录类别	SCI
语种	英语
资助项目	National Key Reseanch and Development Program of China[2018AAA0101502] ; National Key Reseanch and Development Program of China[2018YFB1702300] ; National Natural Science Foundation of China[61722312] ; National Natural Science Foundation of China[61533019] ; National Natural Science Foundation of China[U1811463] ; National Natural Science Foundation of China[61533017] ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles
项目资助者	National Key Reseanch and Development Program of China ; National Natural Science Foundation of China ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000583729100009
CSCD记录号	CSCD:6836404
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类	平行管理与控制
引用统计	被引频次：76[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/173211/41729
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中国科学院自动化研究所
通讯作者	Wei, Qinglai
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Macau Univ Sci & Technol, Inst Syst Engn, Macau 999078, Peoples R China 4.Qingdao Acad Intelligent Ind, Qingdao 266109, Peoples R China
第一作者单位	中国科学院自动化研究所
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	Lu, Jingwei,Wei, Qinglai,Wang, Fei-Yue. Parallel Control for Optimal Tracking via Adaptive Dynamic Programming[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2020,7(6):1662-1674.
APA	Lu, Jingwei,Wei, Qinglai,&Wang, Fei-Yue.(2020).Parallel Control for Optimal Tracking via Adaptive Dynamic Programming.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,7(6),1662-1674.
MLA	Lu, Jingwei,et al."Parallel Control for Optimal Tracking via Adaptive Dynamic Programming".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 7.6(2020):1662-1674.

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