NDLI: Neuro-observer based online finite-horizon optimal control for uncertain non-linear continuous-time systems

Content Provider	IET Digital Library
Author	Huang, Yuzhu
Abstract	In this study, within framework of adaptive dynamic programming (ADP), a neuro-observer based online optimal control solution is developed for the finite-horizon optimal control problem of uncertain non-linear continuous-time systems. First, a neuro-observer is designed to estimate system states from the uncertain system without knowledge of system drift dynamics. Then based on the observed states, an online finite-horizon optimal control scheme is proposed by a single critic network to approximate the solution of the time-varying Hamilton–Jacobi–Bellman (HJB) equation and obtain the optimal control. In the design, a novel observer–critic architecture is presented for implementing the control scheme by using two neural networks (NNs): an observer NN is used to learn the uncertain system dynamics and a critic NN is employed not only to approximate the solution of time-varying HJB equation, but also to ensure the terminal constraint is satisfied. Besides, an additional adjusting term is introduced by Lyapunov theory in critic NN weight tuning algorithm, which relaxes the requirement for an initial stabilising control. Moreover, uniform ultimate bounded stability of the closed-loop system is guaranteed via Lyapunov's direct method. Finally, simulation results are shown to demonstrate the effectiveness of the proposed approach.
Starting Page	401
Ending Page	410
Page Count	10
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 3, Feb (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0966
Journal	IET Control Theory & Applications
Publisher Date	2016-11-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Dynamic Programming ADP Algebra Closed Loop System Closed-loop System Stability Continuous Time System Dynamic Programming Jacobian Matrix Lyapunov Method Lyapunov Theory Neural Network Neuro-observer Neurocontrol Neurocontrollers Nonlinear Control System Nonlinear System Observers Observer–critic Architecture Online Finite-horizon Optimal Control Optimal Control Optimisation Technique Stability in Control Theory System Drift Dynamics Time Varying Control System Time Varying System Time-varying Hamilton–Jacobi–Bellman Equation Uncertain Nonlinear Continuous-time System Uncertain System Uncertain System Dynamics Weight Tuning Algorithm
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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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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