Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints
Liu, Derong; Yang, Xiong; Wang, Ding; Wei, Qinglai
2015-07-01
发表期刊IEEE TRANSACTIONS ON CYBERNETICS
卷号45期号:7页码:1372-1385
文章类型Article
摘要The design of stabilizing controller for uncertain nonlinear systems with control constraints is a challenging problem. The constrained-input coupled with the inability to identify accurately the uncertainties motivates the design of stabilizing controller based on reinforcement-learning (RL) methods. In this paper, a novel RL-based robust adaptive control algorithm is developed for a class of continuous-time uncertain nonlinear systems subject to input constraints. The robust control problem is converted to the constrained optimal control problem with appropriately selecting value functions for the nominal system. Distinct from typical action-critic dual networks employed in RL, only one critic neural network (NN) is constructed to derive the approximate optimal control. Meanwhile, unlike initial stabilizing control often indispensable in RL, there is no special requirement imposed on the initial control. By utilizing Lyapunov's direct method, the closed-loop optimal control system and the estimated weights of the critic NN are proved to be uniformly ultimately bounded. In addition, the derived approximate optimal control is verified to guarantee the uncertain nonlinear system to be stable in the sense of uniform ultimate boundedness. Two simulation examples are provided to illustrate the effectiveness and applicability of the present approach.
关键词Approximate Dynamic Programming (Adp) Neural Networks (Nns) Neuro-dynamic Programming Nonlinear Systems Optimal Control Reinforcement Learning (Rl) Robust Control
WOS标题词Science & Technology ; Technology
关键词[WOS]DYNAMIC-PROGRAMMING ALGORITHM ; ADAPTIVE OPTIMAL-CONTROL ; TRACKING CONTROL ; ARCHITECTURE ; NETWORKS
收录类别SCI
语种英语
WOS研究方向Computer Science
WOS类目Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS记录号WOS:000356386300013
引用统计
被引频次:66[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/173211/7917
专题复杂系统管理与控制国家重点实验室_平行控制
作者单位Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Liu, Derong,Yang, Xiong,Wang, Ding,et al. Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints[J]. IEEE TRANSACTIONS ON CYBERNETICS,2015,45(7):1372-1385.
APA Liu, Derong,Yang, Xiong,Wang, Ding,&Wei, Qinglai.(2015).Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints.IEEE TRANSACTIONS ON CYBERNETICS,45(7),1372-1385.
MLA Liu, Derong,et al."Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints".IEEE TRANSACTIONS ON CYBERNETICS 45.7(2015):1372-1385.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Reinforcement-Learni(1179KB)期刊论文出版稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Liu, Derong]的文章
[Yang, Xiong]的文章
[Wang, Ding]的文章
百度学术
百度学术中相似的文章
[Liu, Derong]的文章
[Yang, Xiong]的文章
[Wang, Ding]的文章
必应学术
必应学术中相似的文章
[Liu, Derong]的文章
[Yang, Xiong]的文章
[Wang, Ding]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。