Adaptive Linear Quadratic Regulator for Continuous-Time Systems with Uncertain Dynamics
文献类型：期刊论文
| 作者 | Sumit Kumar Jha; Shubhendu Bhasin |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:3页码:833-841 |
| 关键词 | Adaptive optimal control continuous policy update linear quadratic regulator uncertain system dynamics |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911438 |
| 英文摘要 | In this paper, adaptive linear quadratic regulator (LQR) is proposed for continuous-time systems with uncertain dynamics. The dynamic state-feedback controller uses input-output data along the system trajectory to continuously adapt and converge to the optimal controller. The result differs from previous results in that the adaptive optimal controller is designed without the knowledge of the system dynamics and an initial stabilizing policy. Further, the controller is updated continuously using input-output data, as opposed to the commonly used switched/intermittent updates which can potentially lead to stability issues. An online state derivative estimator facilitates the design of a model-free controller. Gradient-based update laws are developed for online estimation of the optimal gain. Uniform exponential stability of the closed-loop system is established using the Lyapunov-based analysis, and a simulation example is provided to validate the theoretical contribution. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43001]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Sumit Kumar Jha,Shubhendu Bhasin. Adaptive Linear Quadratic Regulator for Continuous-Time Systems with Uncertain Dynamics[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):833-841. |
| APA | Sumit Kumar Jha,&Shubhendu Bhasin.(2020).Adaptive Linear Quadratic Regulator for Continuous-Time Systems with Uncertain Dynamics.IEEE/CAA Journal of Automatica Sinica,7(3),833-841. |
| MLA | Sumit Kumar Jha,et al."Adaptive Linear Quadratic Regulator for Continuous-Time Systems with Uncertain Dynamics".IEEE/CAA Journal of Automatica Sinica 7.3(2020):833-841. |
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。