Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties

doi:10.1016/j.ins.2016.05.034

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	Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties
	Wang, Ding1,3 ; Li, Chao1 ; Liu, Derong 2; Mu, Chaoxu 3
刊名	INFORMATION SCIENCES
	2016-10-20
期号	366 页码:121-133
关键词	Adaptive Dynamic Programming Data-based Control Integral Policy Iteration Matched Uncertainties Neural Networks Robust Optimal Control
DOI	10.1016/j.ins.2016.05.034
文献子类	Article
英文摘要	In this paper, the robust optimal control of continuous-time affine nonlinear systems with matched uncertainties is investigated by using a data-based integral policy iteration approach. It is a natural extension of the traditional optimal control design, under the framework of adaptive dynamic programming (ADP) method, to robust optimal control of nonlinear systems with matched uncertainties. In theoretical aspect, by increasing a feedback gain to the optimal controller of the nominal system, the robust controller of the matched uncertain system is obtained, which also achieves optimality with a newly well-defined cost function. When regarding the implementation, the data-based integral policy iteration algorithm is used to solve the Hamilton-Jacobi-Bellman equation corresponding to the nominal system with completely unknown dynamics information. Then, the actor-critic technique based on neural networks and least squares implementation method are employed to facilitate deriving the optimal control law iteratively, so that the closed-form expression of the robust optimal controller is available. Additionally, two simulation examples with application backgrounds are presented to illustrate the effectiveness of the established robust optimal control scheme. In summary, it is important to note that the result developed in this paper broadens the application scope of ADP-based optimal control approach to more general nonlinear systems possessing dynamical uncertainties. (C) 2016 Elsevier Inc. All rights reserved.
WOS关键词	OPTIMAL-CONTROL DESIGN ; POLICY ITERATION ; ALGORITHM
WOS研究方向	Computer Science
语种	英语
WOS记录号	WOS:000380068900007
资助机构	National Natural Science Foundation of China(61233001 ; Beijing Natural Science Foundation(4162065) ; Tianjin Natural Science Foundation(14JCQNJC05400) ; Research Fund of Tianjin Key Laboratory of Process Measurement and Control(TKLPMC-201612) ; Early Career Development Award of SKLMCCS ; 61273140 ; 61304018 ; 61304086 ; 61533017 ; L11501251 ; 61411130160)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12164]
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	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 3.Tianjin Univ, Sch Elect Engn & Automat, Tianjin Key Lab Proc Measurement & Control, Tianjin 300072, Peoples R China
推荐引用方式 GB/T 7714	Wang, Ding,Li, Chao,Liu, Derong,et al. Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties[J]. INFORMATION SCIENCES,2016(366):121-133.
APA	Wang, Ding,Li, Chao,Liu, Derong,&Mu, Chaoxu.(2016).Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties.INFORMATION SCIENCES(366),121-133.
MLA	Wang, Ding,et al."Data-based robust optimal control of continuous-time affine nonlinear systems with matched uncertainties".INFORMATION SCIENCES .366(2016):121-133.