State-dependent adaptive dynamic programing for a class of continuous-time nonlinear systems
المؤلف | Batmani, Yazdan |
المؤلف | Davoodi, Mohammadrez |
المؤلف | Meskin, Nader |
تاريخ الإتاحة | 2021-06-07T09:59:13Z |
تاريخ النشر | 2016 |
اسم المنشور | International Conference on Control, Decision and Information Technologies, CoDIT 2016 |
المصدر | Scopus |
الملخص | The 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 المشروع | This 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 |
اللغة | en |
الناشر | Institute of Electrical and Electronics Engineers Inc. |
الموضوع | Autonomous 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 |
النوع | Conference Paper |
الصفحات | 325-330 |
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