TY - CHAP
T1 - Continuous-time single network adaptive critic for regulator design of nonlinear control affine systems
AU - Kumar, Swagat
AU - Padhi, Radhakant
AU - Behera, Laxmidhar
PY - 2008
Y1 - 2008
N2 - An optimal control law for a general nonlinear system can be obtained by solving Hamilton-Jacobi-Bellman equation. However, it is difficult to obtain an analytical solution of this equation even for a moderately complex system. In this paper, we propose a continuoustime single network adaptive critic scheme for nonlinear control affine systems where the optimal cost-to-go function is approximated using a parametric positive semi-definite function. Unlike earlier approaches, a continuous-time weight update law is derived from the HJB equation. The stability of the system is analysed during the evolution of weights using Lyapunov theory. The effectiveness of the scheme is demonstrated through simulation examples. Copyright ?? 2007 International Federation of Automatic Control All Rights Reserved.
AB - An optimal control law for a general nonlinear system can be obtained by solving Hamilton-Jacobi-Bellman equation. However, it is difficult to obtain an analytical solution of this equation even for a moderately complex system. In this paper, we propose a continuoustime single network adaptive critic scheme for nonlinear control affine systems where the optimal cost-to-go function is approximated using a parametric positive semi-definite function. Unlike earlier approaches, a continuous-time weight update law is derived from the HJB equation. The stability of the system is analysed during the evolution of weights using Lyapunov theory. The effectiveness of the scheme is demonstrated through simulation examples. Copyright ?? 2007 International Federation of Automatic Control All Rights Reserved.
KW - Optimal control theory
KW - Optimization based controller synthesis
KW - Regulation
UR - http://www.mendeley.com/research/continuoustime-single-network-adaptive-critic-regulator-design-nonlinear-control-affine-syst
U2 - 10.3182/20080706-5-KR-1001.1443
DO - 10.3182/20080706-5-KR-1001.1443
M3 - Chapter
SN - 9783902661005
VL - 41
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 8797
EP - 8802
BT - IFAC Proceedings Volumes (IFAC-PapersOnline)
ER -