Data-Driven Robust Approximate Optimal Tracking Control for Unknown General Nonlinear Systems Using Adaptive Dynamic Programming Method
Data-Driven Robust Approximate Optimal Tracking Control for Unknown General Nonlinear Systems Using Adaptive Dynamic Programming Method
复制标题
利用自适应动态规划方法对未知一般非线性系统进行数据驱动的鲁棒近似最优跟踪控制
DOI：
10.1109/tnn.2011.2168538
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发表时间：
2011-12
影响因子：
--
通讯作者：
Yanhong Luo
中科院分区：
文献类型：
--
作者：
Huaguang Zhang;Lili Cui;Xin Zhang;Yanhong Luo
在本文中，通过使用自适应动态规划（ADP）方法，针对未知的一般非线性系统提出了一种新的数据驱动的鲁棒近似最优跟踪控制方案。在控制器的设计中，仅利用可用的输入 - 输出数据……
In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.
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影响因子：
6
作者：
Yumin Zhang;Lei Guo;Haisheng Yu;K. Zhao
通讯作者：
Yumin Zhang;Lei Guo;Haisheng Yu;K. Zhao
影响因子：
5.7
作者：
V. Chellaboina;W. Haddad
通讯作者：
V. Chellaboina;W. Haddad
影响因子：
7.8
作者：
Vrabie, Draguna;Lewis, Frank
通讯作者：
Lewis, Frank
DOI：
10.3724/sp.j.1004.2009.00650
发表时间：
2009-10
期刊：
Acta Automatica Sinica
影响因子：
--
作者：
Houyue Zhong
通讯作者：
Houyue Zhong
DOI：
10.1007/978-3-030-78731-8_5
发表时间：
2021-11
期刊：
Advanced Textbooks in Control and Signal Processing
影响因子：
--
作者：
Hai Lin;P. Antsaklis
通讯作者：
Hai Lin;P. Antsaklis