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AuthorBatmani, Yazdan
AuthorDavoodi, Mohammadrez
AuthorMeskin, Nader
Available date2021-06-07T09:59:13Z
Publication Date2016
Publication NameInternational Conference on Control, Decision and Information Technologies, CoDIT 2016
ResourceScopus
URIhttp://dx.doi.org/10.1109/CoDIT.2016.7593582
URIhttp://hdl.handle.net/10576/20517
AbstractThe state-dependent Riccati equation (SDRE) technique can be used to solve optimal control problems for a wide class of nonlinear dynamical systems. In this method, instead of solving a complicated Hamilton-Jacobi-Bellman (HJB) equation, a state-dependent Riccati equation is solved which leads to a suboptimal control law. However, a priori model of the system must be available to apply this technique to the optimal control problem. In this paper, to solve the SDRE without using a priori model of the system, a direct adaptive suboptimal algorithm is proposed. The algorithm, named state-dependent Riccati equation adaptive dynamic programming (SDRE-ADP), is based on a reinforcement learning approach which can be implemented in an online fashion. Like the SDRE technique, the proposed SDRE-ADP can locally asymptotically stabilize the closed-loop system provided that some conditions are satisfied. Application of the proposed algorithm to an autonomous unmanned underwater vehicle (AUV) and a numerical example shows that it can be effectively applied for nonlinear systems.
SponsorThis publication was made possible by NPRP grants No. NPRP 5-045-2-017 and No. NPRP 5-574-2-233 from the Qatar National Research Fund (a member of Qatar Foundation). The
Languageen
PublisherInstitute of Electrical and Electronics Engineers Inc.
SubjectAutonomous underwater vehicles
Closed loop systems
Continuous time systems
Discrete time control systems
Dynamical systems
Equations of state
Nonlinear dynamical systems
Nonlinear equations
Nonlinear systems
Optimal control systems
Reinforcement learning
Riccati equations
Adaptive dynamic programming
Continuous time nonlinear systems
Hamilton-Jacobi-Bellman equations
Non-linear optimal control
Optimal control problem
Reinforcement learning approach
SDRE technique
State-dependent Riccati equation
Dynamic programming
TitleState-dependent adaptive dynamic programing for a class of continuous-time nonlinear systems
TypeConference Paper
Pagination325-330
dc.accessType Abstract Only


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