Event-Based Robust Control for Uncertain Nonlinear Systems Using Adaptive Dynamic Programming

doi:10.1109/TNNLS.2016.2614002

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 深度强化学习

	Event-Based Robust Control for Uncertain Nonlinear Systems Using Adaptive Dynamic Programming
	Zhang, Qichao1 ; Zhao, Dongbin1,2 ; Wang, Ding1,3
刊名	IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
	2018
卷号	29 期号:1 页码:37-50
关键词	Adaptive Dynamic Programming (Adp) Event-based Control Neural Network (Nn) Robust Control Unmatched Uncertainties
DOI	10.1109/TNNLS.2016.2614002
文献子类	Article
英文摘要	In this paper, the robust control problem for a class of continuous-time nonlinear system with unmatched uncertainties is investigated using an event-based control method. First, the robust control problem is transformed into a corresponding optimal control problem with an augmented control and an appropriate cost function. Under the event-based mechanism, we prove that the solution of the optimal control problem can asymptotically stabilize the uncertain system with an adaptive triggering condition. That is, the designed event-based controller is robust to the original uncertain system. Note that the event-based controller is updated only when the triggering condition is satisfied, which can save the communication resources between the plant and the controller. Then, a single network adaptive dynamic programming structure with experience replay technique is constructed to approach the optimal control policies. The stability of the closed-loop system with the event-based control policy and the augmented control policy is analyzed using the Lyapunov approach. Furthermore, we prove that the minimal intersample time is bounded by a nonzero positive constant, which excludes Zeno behavior during the learning process. Finally, two simulation examples are provided to demonstrate the effectiveness of the proposed control scheme.
WOS关键词	TRIGGERED CONTROL ; CONTROL DESIGN ; NETWORKS ; SYNCHRONIZATION ; ALGORITHM ; CONSENSUS ; STRATEGY
WOS研究方向	Computer Science ; Engineering
语种	英语
WOS记录号	WOS:000419558900004
资助机构	National Natural Science Foundation of China(61273136 ; National Key Research and Development Plan(2016YFB0101000) ; Beijing Natural Science Foundation(4162065) ; Research Fund of Tianjin Key Laboratory of Process Measurement and Control(TKLPMC-201612) ; 61573353 ; 61533017 ; 61304086 ; 61603382 ; U1501251)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/14334]
专题	复杂系统管理与控制国家重点实验室_深度强化学习
通讯作者	Zhao, Dongbin
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Tianjin Univ, Sch Elect Engn & Automat, Tianjin Key Lab Proc Measurement & Control, Tianjin 300072, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Qichao,Zhao, Dongbin,Wang, Ding. Event-Based Robust Control for Uncertain Nonlinear Systems Using Adaptive Dynamic Programming[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2018,29(1):37-50.
APA	Zhang, Qichao,Zhao, Dongbin,&Wang, Ding.(2018).Event-Based Robust Control for Uncertain Nonlinear Systems Using Adaptive Dynamic Programming.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,29(1),37-50.
MLA	Zhang, Qichao,et al."Event-Based Robust Control for Uncertain Nonlinear Systems Using Adaptive Dynamic Programming".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 29.1(2018):37-50.