中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 自动化研究所
  3. 中国科学院自动化研究所
  4. 多模态人工智能系统全国重点实验室
  5. 智能化团队
Parallel Control for Optimal Tracking via Adaptive Dynamic Programming

文献类型：期刊论文

作者Lu, Jingwei1,2; Wei, Qinglai1,2; Wang, Fei-Yue2,3,4
刊名IEEE-CAA JOURNAL OF AUTOMATICA SINICA
出版日期2020-11-01
卷号7期号:6页码:1662-1674
关键词Adaptive dynamic programming (ADP) nonlinear optimal control parallel controller parallel control theory parallel system tracking control neural network (NN)
ISSN号2329-9266
DOI10.1109/JAS.2020.1003426
通讯作者Wei, Qinglai(qinglai.wei@ia.ac.cn)
英文摘要This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear systems. Unlike existing optimal state feedback control, the control input of the optimal parallel control is introduced into the feedback system. However, due to the introduction of control input into the feedback system, the optimal state feedback control methods can not be applied directly. To address this problem, an augmented system and an augmented performance index function are proposed firstly. Thus, the general nonlinear system is transformed into an affine nonlinear system. The difference between the optimal parallel control and the optimal state feedback control is analyzed theoretically. It is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index function. Moreover, an adaptive dynamic programming (ADP) technique is utilized to implement the optimal parallel tracking control using a critic neural network (NN) to approximate the value function online. The stability analysis of the closed-loop system is performed using the Lyapunov theory, and the tracking error and NN weights errors are uniformly ultimately bounded (UUB). Also, the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference signals. Finally, the effectiveness of the developed optimal parallel control method is verified in two cases.
WOS关键词TIME NONLINEAR-SYSTEMS ; MANAGEMENT ; SCHEME
资助项目National Key Reseanch and Development Program of China[2018AAA0101502] ; National Key Reseanch and Development Program of China[2018YFB1702300] ; National Natural Science Foundation of China[61722312] ; National Natural Science Foundation of China[61533019] ; National Natural Science Foundation of China[U1811463] ; National Natural Science Foundation of China[61533017] ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles
WOS研究方向Automation & Control Systems
语种英语
WOS记录号WOS:000583729100009
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Key Reseanch and Development Program of China ; National Natural Science Foundation of China ; Intel Collaborative Research Institute for Intelligent and Automated Connected Vehicles
源URL[http://ir.ia.ac.cn/handle/173211/41728]  
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
中国科学院自动化研究所
通讯作者Wei, Qinglai
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
3.Macau Univ Sci & Technol, Inst Syst Engn, Macau 999078, Peoples R China
4.Qingdao Acad Intelligent Ind, Qingdao 266109, Peoples R China
推荐引用方式
GB/T 7714		 Lu, Jingwei,Wei, Qinglai,Wang, Fei-Yue. Parallel Control for Optimal Tracking via Adaptive Dynamic Programming[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2020,7(6):1662-1674.
APA Lu, Jingwei,Wei, Qinglai,&Wang, Fei-Yue.(2020).Parallel Control for Optimal Tracking via Adaptive Dynamic Programming.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,7(6),1662-1674.
MLA Lu, Jingwei,et al."Parallel Control for Optimal Tracking via Adaptive Dynamic Programming".IEEE-CAA JOURNAL OF AUTOMATICA SINICA 7.6(2020):1662-1674.

入库方式： OAI收割

来源：自动化研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。