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المؤلفBatmani, Yazdan
المؤلفDavoodi, Mohammadrez
المؤلفMeskin, Nader
تاريخ الإتاحة2021-06-07T09:59:13Z
تاريخ النشر2016
اسم المنشورInternational Conference on Control, Decision and Information Technologies, CoDIT 2016
المصدرScopus
معرّف المصادر الموحدhttp://dx.doi.org/10.1109/CoDIT.2016.7593582
معرّف المصادر الموحدhttp://hdl.handle.net/10576/20517
الملخصThe 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.
راعي المشروعThis 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
اللغةen
الناشرInstitute of Electrical and Electronics Engineers Inc.
الموضوعAutonomous 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
العنوانState-dependent adaptive dynamic programing for a class of continuous-time nonlinear systems
النوعConference Paper
الصفحات325-330
dc.accessType Abstract Only


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