Adaptive dynamic programming and optimal control of nonlinear nonaffine systems

被引：176
|
作者：
Bian, Tao [1 ]
Jiang, Yu [1 ]
Jiang, Zhong-Ping [1 ]
机构：
[1] NYU, Polytech Sch Engn, Dept Elect & Comp Engn, Control & Networks Lab, Brooklyn, NY 11201 USA
来源：
AUTOMATICA | 2014年 / 50卷 / 10期
基金：
美国国家科学基金会;
关键词：
Adaptive optimal control; Adaptive dynamic programming; Nonaffine systems; CONTINUOUS-TIME; APPROXIMATION;
D O I：
10.1016/j.automatica.2014.08.023
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel optimal control design scheme is proposed for continuous-time nonaffine nonlinear dynamic systems with unknown dynamics by adaptive dynamic programming (ADP). The proposed methodology iteratively updates the control policy online by using the state and input information without identifying the system dynamics. An ADP algorithm is developed, and can be applied to a general class of nonlinear control design problems. The convergence analysis for the designed control scheme is presented, along with rigorous stability analysis for the closed-loop system. The effectiveness of this new algorithm is illustrated by two simulation examples. (C) 2014 Elsevier Ltd. All rights reserved.
引用
收藏
页码：2624 / 2632
页数：9
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