NDLI: Finite-horizon input-constrained nonlinear optimal control using single network adaptive critics

Content Provider	IEEE Xplore Digital Library
Author	Heydari, A. Balakrishnan, S.N.
Copyright Year	2011
Description	Author affiliation: Mech. & Aerosp. Eng. Dept., Missouri Univ. of Sci. & Technol., Rolla, MO, USA (Heydari, A.; Balakrishnan, S.N.)
Abstract	A single neural network based controller called the Finite-SNAC is developed in this study to synthesize finite-horizon optimal controllers for nonlinear control-affine systems. For satisfying the constraint on the input, a non-quadratic cost function is used. Inputs to the neural network are the current system states and the time-to-go and the network outputs are the costates which are used to compute the feedback control. Convergence of the reinforcement learning based training method to the optimal solution, the training error and the network weights are provided. The resulting controller is shown to solve the associated time-varying Hamilton-Jacobi-Bellman (HJB) equation and provide the fixed-final-time optimal solution. Performance of the new synthesis technique is demonstrated through an attitude control problem wherein a rigid spacecraft performs a finite time attitude maneuver subject to control bounds. The new formulation has a great potential for implementation since it consists of only one neural network with single set of weights and it provides comprehensive feedback solutions online though it is trained offline.
Sponsorship	Control Syst. Soc.
Starting Page	3047
Ending Page	3052
File Size	314707
Page Count	6
File Format	PDF
ISBN	9781457700804
ISSN	07431619
e-ISBN	9781457700811
DOI	10.1109/ACC.2011.5991378
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Equations Training Convergence Mathematical model Satellites Optimal control Cost function
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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