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Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis

文献类型：期刊论文

作者Zhao, Dongbin; Xia, Zhongpu; Wang, Ding
刊名IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
出版日期2015-10-01
卷号12期号:4页码:1461-1468
关键词Action dependent heuristic dynamic programming adaptive dynamic programming model-free optimal control neural networks policy iteration
英文摘要In this paper, a self-learning control scheme is proposed for the infinite horizon optimal control of affine nonlinear systems based on the action dependent heuristic dynamic programming algorithm. The policy iteration technique is introduced to derive the optimal control policy with feasibility and convergence analysis. It shows that the "greedy" control action for each state is uniquely existent, the learned control policy after each policy iteration is admissible, and the optimal control policy is able to be obtained. Two three-layer perceptron neural networks are employed to implement the scheme. The critic network is trained by a novel rule to conform to the Bellman equation, and the action network is trained to yield a better control policy. Both training processes alternate until the optimal control policy is achieved. Two simulation examples are provided to validate the effectiveness of the approach.
WOS标题词Science & Technology ; Technology
类目[WOS]Automation & Control Systems
研究领域[WOS]Automation & Control Systems
关键词[WOS]DISCRETE-TIME-SYSTEMS ; REINFORCEMENT
收录类别SCI
语种英语
WOS记录号WOS:000362358500028
源URL[http://ir.ia.ac.cn/handle/173211/10038]  
专题复杂系统管理与控制国家重点实验室_深度强化学习
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		 Zhao, Dongbin,Xia, Zhongpu,Wang, Ding. Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2015,12(4):1461-1468.
APA Zhao, Dongbin,Xia, Zhongpu,&Wang, Ding.(2015).Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,12(4),1461-1468.
MLA Zhao, Dongbin,et al."Model-Free Optimal Control for Affine Nonlinear Systems With Convergence Analysis".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 12.4(2015):1461-1468.

入库方式： OAI收割

来源：自动化研究所

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