Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems
文献类型：期刊论文
| 作者 | Yang, Xiong ; Liu, Derong; Ma, Hongwen; Xu, Yancai
|
| 刊名 | INFORMATION SCIENCES
 |
| 出版日期 | 2016-01-20 |
| 卷号 | 328页码:435-454 |
| 关键词 | Adaptive dynamic programming Hamilton-Jacobi-Isaacs equation Input constraint Neural network Optimal control Reinforcement learning |
| 英文摘要 | This paper is concerned with the approximate solution of Hamilton-Jacobi-Isaacs (HJI) equation for constrained-input nonlinear continuous-time systems with unknown dynamics. We develop a novel online adaptive dynamic programming-based algorithm to learn the solution of the HJI equation. The present algorithm is implemented via an identifier-critic architecture, which consists of two neural networks (NNs): an identifier NN is applied to estimate the unknown system dynamics and a critic NN is constructed to obtain the approximate solution of the HJI equation. An advantage of the proposed architecture is that the identifier NN and the critic NN are tuned simultaneously. With introducing two additional terms, namely, the stabilizing term and the robustifying term to update the critic NN, the initial stabilizing control is no longer required. Meanwhile, the developed critic tuning rule not only ensures convergence of the critic to the optimal saddle point but also guarantees stability of the closed-loop system. Moreover, the uniform ultimate boundedness of the weights of the identifier NN and the critic NN are proved by using Lyapunov's direct method. Finally, to illustrate the effectiveness and applicability of the developed approach, two simulation examples are provided. (C) 2015 Elsevier Inc. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems |
| 研究领域[WOS] | Computer Science |
| 关键词[WOS] | ZERO-SUM GAMES ; DYNAMIC-PROGRAMMING ALGORITHM ; ADAPTIVE OPTIMAL-CONTROL ; STATE-FEEDBACK CONTROL ; H-INFINITY CONTROL ; LEARNING ALGORITHM ; NEURAL-NETWORKS ; CONTROL DESIGN ; ARCHITECTURE ; FORMULATION |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000365054800028 |
| 公开日期 | 2016-02-26 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/10518]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队 |
| 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 | Yang, Xiong,Liu, Derong,Ma, Hongwen,et al. Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems[J]. INFORMATION SCIENCES,2016,328:435-454. |
| APA | Yang, Xiong,Liu, Derong,Ma, Hongwen,&Xu, Yancai.(2016).Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems.INFORMATION SCIENCES,328,435-454. |
| MLA | Yang, Xiong,et al."Online approximate solution of HJI equation for unknown constrained-input nonlinear continuous-time systems".INFORMATION SCIENCES 328(2016):435-454. |
入库方式： OAI收割
来源：自动化研究所
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