1. Adaptive Optimal Control for a Class of Nonlinear Systems: The Online Policy Iteration Approach.
- Author
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He, Shuping, Fang, Haiyang, Zhang, Maoguang, Liu, Fei, and Ding, Zhengtao
- Subjects
ADAPTIVE control systems ,NONLINEAR systems ,DIFFERENTIAL inclusions ,RICCATI equation ,ALGEBRAIC equations ,OPTIMAL control theory ,NONLINEAR control theory - Abstract
This paper studies the online adaptive optimal controller design for a class of nonlinear systems through a novel policy iteration (PI) algorithm. By using the technique of neural network linear differential inclusion (LDI) to linearize the nonlinear terms in each iteration, the optimal law for controller design can be solved through the relevant algebraic Riccati equation (ARE) without using the system internal parameters. Based on PI approach, the adaptive optimal control algorithm is developed with the online linearization and the two-step iteration, i.e., policy evaluation and policy improvement. The convergence of the proposed PI algorithm is also proved. Finally, two numerical examples are given to illustrate the effectiveness and applicability of the proposed method. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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