An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems
文献类型：期刊论文
| 作者 | Yang, Xiong1 ; Wei, Qinglai2
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
 |
| 出版日期 | 2018-12-01 |
| 卷号 | 28期号:18页码:5747-5765 |
| ISSN号 | 1049-8923 |
| 关键词 | constrained input mismatched uncertainties off-policy iteration reinforcement learning robust stabilization |
| DOI | 10.1002/rnc.4342 |
| 通讯作者 | Yang, Xiong(xiong.yang@tju.edu.cn) |
| 英文摘要 | This paper studies the robust stabilization problem of constrained-input nonlinear systems with mismatched uncertainties. Initially, the robust stabilization problem is converted into a constrained H-2 optimal control problem by providing a proper infinite-horizon cost function for the auxiliary system. It is demonstrated that the solution of the constrained H-2 optimal control problem can force the original system to be stable in the sense of uniform ultimate boundedness. Then, under the framework of reinforcement learning, an off-policy iteration algorithm is proposed to solve the constrained H-2 optimal control problem. The off-policy iteration algorithm is implemented by using two kinds of approximators. That is, the critic approximator is applied to approximate the optimal cost function and the actor approximator is used to approximate the augmented optimal control. The method of weighted residuals together with the Monte-Carlo integration technique is employed to determine the weight parameters of critic and actor approximators. Finally, two examples, including a pendulum system, are presented to validate the proposed control algorithm. |
| WOS关键词 | H-INFINITY CONTROL ; CONTINUOUS-TIME SYSTEMS ; TRACKING CONTROL ; REINFORCEMENT ; DESIGN |
| 资助项目 | National Natural Science Foundation of China[61503379] ; National Natural Science Foundation of China[61722312] ; China Scholarship Council under the State Scholarship Fund |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Mathematics |
| 语种 | 英语 |
| 出版者 | WILEY |
| WOS记录号 | WOS:000450110800005 |
| 资助机构 | National Natural Science Foundation of China ; China Scholarship Council under the State Scholarship Fund |
| 源URL | [http://ir.ia.ac.cn/handle/173211/22563]  |
| 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 |
| 通讯作者 | Yang, Xiong |
| 作者单位 | 1.Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yang, Xiong,Wei, Qinglai. An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2018,28(18):5747-5765. |
| APA | Yang, Xiong,&Wei, Qinglai.(2018).An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,28(18),5747-5765. |
| MLA | Yang, Xiong,et al."An off-policy iteration algorithm for robust stabilization of constrained-input uncertain nonlinear systems".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 28.18(2018):5747-5765. |
入库方式： OAI收割
来源：自动化研究所
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