Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System

doi:10.1109/TIE.2017.2722424

	Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System
	Wang, Ding; Mu, Chaoxu 1,2,3,4
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2018
卷号	65 期号:1 页码:654-663
关键词	Adaptive critic design neural networks optimal control robust trajectory tracking self-learning control system uncertainty
ISSN号	0278-0046
DOI	10.1109/TIE.2017.2722424
通讯作者	Mu, Chaoxu(cxmu@tju.edu.cn)
英文摘要	In this paper, the robust trajectory tracking design of uncertain nonlinear systems is investigated by virtue of a self-learning optimal control formulation. The primary novelty lies in that an effective learning based robust tracking control strategy is developed for nonlinear systems under a general uncertain environment. The augmented system construction is performed by combining the tracking error with the reference trajectory. Then, an improved adaptive critic technique, which does not depend on the initial stabilizing controller, is employed to solve the Hamilton-Jacobi-Bellman (HJB) equation with respect to the nominal augmented system. Using the obtained control law, the closed-loop form of the augmented system is built with stability proof. Moreover, the robust trajectory tracking performance is guaranteed via Lyapunov approach in theory and then through simulation demonstration, where an application to a practical spring-mass-damper system is included.
资助项目	Beijing Natural Science Foundation[4162065] ; National Natural Science Foundation of China[U1501251] ; Tianjin Natural Science Foundation[14JCQNJC05400] ; State Key Laboratory of Management and Control for Complex Systems[20170105] ; China Postdoctoral Science Foundation[2014M561559] ; SKLMCCS
WOS关键词	NONLINEAR-SYSTEMS ; DESIGN
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000416221000065
资助机构	Beijing Natural Science Foundation ; National Natural Science Foundation of China ; Tianjin Natural Science Foundation ; State Key Laboratory of Management and Control for Complex Systems ; China Postdoctoral Science Foundation ; SKLMCCS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/28217]
专题	中国科学院自动化研究所
通讯作者	Mu, Chaoxu
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China 3.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wang, Ding,Mu, Chaoxu. Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(1):654-663.
APA	Wang, Ding,&Mu, Chaoxu.(2018).Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(1),654-663.
MLA	Wang, Ding,et al."Adaptive-Critic-Based Robust Trajectory Tracking of Uncertain Dynamics and Its Application to a Spring-Mass-Damper System".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.1(2018):654-663.