Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances

doi:10.1109/TCYB.2015.2421338

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 平行控制

	Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances
	Song, Ruizhuo 1; Lewis, Frank L.2,3; Wei, Qinglai4 ; Zhang, Huaguang 5
刊名	IEEE TRANSACTIONS ON CYBERNETICS
	2016-05-01
卷号	46 期号:5 页码:1041-1050
关键词	Adaptive Critic Designs Adaptive/approximate Dynamic Programming (Adp) Dynamic Programming Off-policy Optimal Control Unknown System
DOI	10.1109/TCYB.2015.2421338
文献子类	Article
英文摘要	An optimal control method is developed for unknown continuous-time systems with unknown disturbances in this paper. The integral reinforcement learning (IRL) algorithm is presented to obtain the iterative control. Off-policy learning is used to allow the dynamics to be completely unknown. Neural networks are used to construct critic and action networks. It is shown that if there are unknown disturbances, off-policy IRL may not converge or may be biased. For reducing the influence of unknown disturbances, a disturbances compensation controller is added. It is proven that the weight errors are uniformly ultimately bounded based on Lyapunov techniques. Convergence of the Hamiltonian function is also proven. The simulation study demonstrates the effectiveness of the proposed optimal control method for unknown systems with disturbances.
WOS关键词	TIME NONLINEAR-SYSTEMS ; OPTIMAL TRACKING CONTROL ; ADAPTIVE OPTIMAL-CONTROL ; OPTIMAL-CONTROL SCHEME ; CONTROL DESIGN ; FEEDBACK-CONTROL ; LINEAR-SYSTEMS ; OUTPUT DATA ; ALGORITHM ; ITERATION
WOS研究方向	Computer Science
语种	英语
WOS记录号	WOS:000374989300001
资助机构	National Natural Science Foundation of China(61304079 ; Beijing Natural Science Foundation(4132078 ; China Post-Doctoral Science Foundation(2013M530527) ; Fundamental Research Funds for the Central Universities(FRF-TP-14-119A2) ; Open Research Project from The State Key Laboratory of Management and Control for Complex Systems(20120106 ; NSF(ECCS-1128050) ; Office of Naval Research(N00014-13-1-0562) ; Air Force Office of Scientific Research through the European Office of Aerospace Research and Development(13-3055) ; U.S. Army Research Office(W911NF-11-D-0001) ; China National Natural Science Foundation of China(61120106011) ; China Education Ministry Project 111(B08015) ; 61374105 ; 4143065) ; 20150104) ; 61433004)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12209]
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.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China 2.Univ Texas Arlington, UTA Res Inst, Ft Worth, TX 76118 USA 3.Northeastern Univ, State Key Lab Synthet Automat Proc Ind, Shenyang 110004, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 5.Northeastern Univ, Sch Informat Sci & Engn, Shenyang 110004, Peoples R China
推荐引用方式 GB/T 7714	Song, Ruizhuo,Lewis, Frank L.,Wei, Qinglai,et al. Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances[J]. IEEE TRANSACTIONS ON CYBERNETICS,2016,46(5):1041-1050.
APA	Song, Ruizhuo,Lewis, Frank L.,Wei, Qinglai,&Zhang, Huaguang.(2016).Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances.IEEE TRANSACTIONS ON CYBERNETICS,46(5),1041-1050.
MLA	Song, Ruizhuo,et al."Off-Policy Actor-Critic Structure for Optimal Control of Unknown Systems With Disturbances".IEEE TRANSACTIONS ON CYBERNETICS 46.5(2016):1041-1050.