Direct adaptive control using single network adaptive critic

Swagat Kumar, Radhakant Padhi, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingChapter

7 Citations (Scopus)

Abstract

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. In this paper, we propose a direct adaptive control method for affine systems where the optimal value function is approximated using a critic network and the weight update law is derived so as to satisfy the HJB equation. This provides an alternative method to solve the HJB equation in real-time and thus paves the way for introducing some notion of optimality to direct adaptive control paradigm. The efficacy of the scheme is demonstrated for a linearized mass-spring-damper system and its performance is compared with that of LQR. ©2007 IEEE.
Original languageEnglish
Title of host publication2007 IEEE International Conference on System of Systems Engineering, SOSE
DOIs
Publication statusPublished - 2007
Event 2007 IEEE International Conference on System of Systems Engineering - San Antonio, Texas, United States
Duration: 16 Apr 200718 Apr 2007

Publication series

Name2007 IEEE International Conference on System of Systems Engineering, SOSE

Conference

Conference 2007 IEEE International Conference on System of Systems Engineering
CountryUnited States
CitySan Antonio, Texas
Period16/04/0718/04/07

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    Kumar, S., Padhi, R., & Behera, L. (2007). Direct adaptive control using single network adaptive critic. In 2007 IEEE International Conference on System of Systems Engineering, SOSE (2007 IEEE International Conference on System of Systems Engineering, SOSE). https://doi.org/10.1109/SYSOSE.2007.4304249