Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System
文献类型：期刊论文
| 作者 | Wang, Ding ; Mu, Chaoxu1,2,3,4
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2018 |
| 卷号 | 65期号:1页码:654-663 |
| 关键词 | Adaptive critic design neural networks optimal control robust trajectory tracking self-learning control system uncertainty |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2017.2722424 |
| 通讯作者 | Mu, Chaoxu(cxmu@tju.edu.cn) |
| 英文摘要 | In this paper, the robust trajectory tracking design of uncertain nonlinear systems is investigated by virtue of a self-learning optimal control formulation. The primary novelty lies in that an effective learning based robust tracking control strategy is developed for nonlinear systems under a general uncertain environment. The augmented system construction is performed by combining the tracking error with the reference trajectory. Then, an improved adaptive critic technique, which does not depend on the initial stabilizing controller, is employed to solve the Hamilton-Jacobi-Bellman (HJB) equation with respect to the nominal augmented system. Using the obtained control law, the closed-loop form of the augmented system is built with stability proof. Moreover, the robust trajectory tracking performance is guaranteed via Lyapunov approach in theory and then through simulation demonstration, where an application to a practical spring-mass-damper system is included. |
| WOS关键词 | NONLINEAR-SYSTEMS ; DESIGN |
| 资助项目 | Beijing Natural Science Foundation[4162065] ; National Natural Science Foundation of China[U1501251] ; Tianjin Natural Science Foundation[14JCQNJC05400] ; State Key Laboratory of Management and Control for Complex Systems[20170105] ; China Postdoctoral Science Foundation[2014M561559] ; SKLMCCS |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000416221000065 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Tianjin Natural Science Foundation ; State Key Laboratory of Management and Control for Complex Systems ; China Postdoctoral Science Foundation ; SKLMCCS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/28217]  |
| 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 | Mu, Chaoxu |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China 3.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 100049, Peoples R China 4.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 | Wang, Ding,Mu, Chaoxu. Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(1):654-663. |
| APA | Wang, Ding,&Mu, Chaoxu.(2018).Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(1),654-663. |
| MLA | Wang, Ding,et al."Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.1(2018):654-663. |
入库方式： OAI收割
来源：自动化研究所
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