Journal
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
Volume 27, Issue 11, Pages 2386-2398Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TNNLS.2015.2487972
Keywords
Approximate dynamic programming (ADP); optimal control; reinforcement learning; saturating actuators
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Funding
- ARO MURI Grant [W911NF0910553]
- ARO grant [W911NF-09-D-0001]
- CAPES [BEX-9586/11-3]
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This paper proposes a control algorithm based on adaptive dynamic programming to solve the infinite-horizon optimal control problem for known deterministic nonlinear systems with saturating actuators and nonquadratic cost functionals. The algorithm is based on an actor/critic framework, where a critic neural network (NN) is used to learn the optimal cost, and an actor NN is used to learn the optimal control policy. The adaptive control nature of the algorithm requires a persistence of excitation condition to be a priori validated, but this can be relaxed using previously stored data concurrently with current data in the update of the critic NN. A robustifying control term is added to the controller to eliminate the effect of residual errors, leading to the asymptotically stability of the closed-loop system. Simulation results show the effectiveness of the proposed approach for a controlled Van der Pol oscillator and also for a power system plant.
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