Direct adaptive control using single network adaptive critic

Swagat Kumar, Radhakant Padhi, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

8 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
Country/TerritoryUnited States
CitySan Antonio, Texas
Period16/04/0718/04/07

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