NDLI: Control of unknown nonlinear systems with efficient transient performance using concurrent exploitation and exploration

Content Provider	IEEE Xplore Digital Library
Author	Kosmatopoulos, E.B.
Copyright Year	2009
Description	Author affiliation: Dynamic Systems and Simulation Laboratory, Department of Production & Management Engineering, Technical University of Crete, Chania 73100, Greece (Kosmatopoulos, E.B.)
Abstract	Learning mechanisms that operate in unknown environments should be able to efficiently deal with the problem of controlling unknown dynamical systems. Many approaches that deal with such a problem face the so-called exploitationexploration dilemma where the controller has to sacrifice efficient performance for the sake of learning “better” control strategies than the ones already known. In this paper we show that, in the case where the control goal is to stabilize an unknown dynamical system by means of state feedback, exploitation and exploration can be concurrently performed. This is made possible through an appropriate combination of recent results developed by the author in the areas of adaptive control and adaptive optimization and a new result on the convex construction of Control Lyapunov Functions (CLF) for nonlinear systems. The resulting scheme guarantees arbitrarily good performance outside the regions where the system is uncontrollable. Theoretical analysis verify such a claim.
Starting Page	874
Ending Page	879
File Size	197652
Page Count	6
File Format	PDF
ISBN	9781424446841
DOI	10.1109/MED.2009.5164655
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-24
Publisher Place	Greece
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	High Order Neural Networks (HONN) Nonlinear control systems Lyapunov method Control systems Adaptive control Learning systems Programmable control Persistence of Excitation (PE) Exploitation vs Exploration Automatic control Sum of Squares (SoS) Dynamic programming Control Lyapunov Function (CLF) Nonlinear systems Testing
Content Type	Text
Resource Type	Article

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