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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Dierks, T. Jagannathan, S. |
| Copyright Year | 2010 |
| Description | Author affiliation: Dept. of Electr. & Comput. Eng., Missouri Univ. of Sci. & Technol., Rolla, MO, USA (Dierks, T.; Jagannathan, S.) |
| Abstract | In this paper, the optimal regulation and tracking control of affine nonlinear continuous-time systems with known dynamics is undertaken using a novel single online approximator (SOL)-based scheme. The SOLA-based adaptive approach is designed to learn the infinite horizon continuous-time Hamilton-Jacobi-Bellman (HJB) equation and its corresponding optimal control input. A novel parameter tuning algorithm is derived which not only ensures the optimal cost (HJB) function and control input are achieved, but also ensures the system states remain bounded during the online learning process. Lyapunov techniques show that all signals are uniformly ultimately bounded (UUB) and the approximated control signal approaches the optimal control input with small bounded error. In the absence of OLA reconstruction errors, asymptotic convergence to the optimal control is shown. Simulation results illustrate the effectiveness of the approach. |
| Starting Page | 1568 |
| Ending Page | 1573 |
| File Size | 515357 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424474264 |
| ISSN | 07431619 |
| e-ISBN | 9781424474271 |
| DOI | 10.1109/ACC.2010.5531586 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-30 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Optimal control Control systems Error correction Nonlinear control systems Programmable control Adaptive control Infinite horizon Nonlinear equations Cost function Convergence Lyapunov Stability Online nonlinear optimal control Hamilton-Jacobi-Bellman Online approximators |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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