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Neuro-Optimal Trajectory Tracking With Value Iteration of Discrete-Time Nonlinear Dynamics | |
Wang, Ding1,2; Ha, Mingming3; Cheng, Long4,5 | |
发表期刊 | IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS |
ISSN | 2162-237X |
2021-11-08 | |
页码 | 12 |
通讯作者 | Wang, Ding(dingwang@bjut.edu.cn) |
摘要 | In this article, a novel neuro-optimal tracking control approach is developed toward discrete-time nonlinear systems. By constructing a new augmented plant, the optimal trajectory tracking design is transformed into an optimal regulation problem. For discrete-time nonlinear dynamics, the steady control input corresponding to the reference trajectory is given. Then, the value-iteration-based tracking control algorithm is provided and the convergence of the value function sequence is established. Therein, the approximation error between the iterative value function and the optimal cost is estimated. The uniformly ultimately bounded stability of the closed-loop system is also discussed in detail. Moreover, the iterative heuristic dynamic programming (HDP) algorithm is implemented by involving the critic and action components, where some new updating rules of the action network are provided. Finally, two examples are used to demonstrate the optimality of the present controller as well as the effectiveness of the proposed method. |
关键词 | Trajectory Heuristic algorithms Convergence Trajectory tracking Stability criteria Optimal control Dynamic programming Adaptive critic design discrete-time nonlinear plants neuro-optimal trajectory tracking uniformly ultimately bounded stability value iteration |
DOI | 10.1109/TNNLS.2021.3123444 |
关键词[WOS] | ADAPTIVE-CONTROL ; LINEAR-SYSTEMS ; STABILITY |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Beijing Natural Science Foundation[JQ19013] ; National Natural Science Foundation of China[61773373] ; National Natural Science Foundation of China[61873268] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[61890930-5] ; National Natural Science Foundation of China[62021003] ; National Key Research and Development Project[2018YFC1900800-5] |
项目资助者 | Beijing Natural Science Foundation ; National Natural Science Foundation of China ; National Key Research and Development Project |
WOS研究方向 | Computer Science ; Engineering |
WOS类目 | Computer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000733510800001 |
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/173211/46939 |
专题 | 复杂系统认知与决策实验室_先进机器人 |
通讯作者 | Wang, Ding |
作者单位 | 1.Beijing Univ Technol, Fac Informat Technol, Beijing Key Lab Computat Intelligence & Intellige, Beijing Lab Smart Environm Protect, Beijing 100124, Peoples R China 2.Beijing Univ Technol, Beijing Inst Artificial Intelligence, Beijing 100124, Peoples R China 3.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
推荐引用方式 GB/T 7714 | Wang, Ding,Ha, Mingming,Cheng, Long. Neuro-Optimal Trajectory Tracking With Value Iteration of Discrete-Time Nonlinear Dynamics[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2021:12. |
APA | Wang, Ding,Ha, Mingming,&Cheng, Long.(2021).Neuro-Optimal Trajectory Tracking With Value Iteration of Discrete-Time Nonlinear Dynamics.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,12. |
MLA | Wang, Ding,et al."Neuro-Optimal Trajectory Tracking With Value Iteration of Discrete-Time Nonlinear Dynamics".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS (2021):12. |
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