论文信息 - Dynamic Programming Based Adaptive Optimal Control for Inverted Pendulum

Dynamic Programming Based Adaptive Optimal Control for Inverted Pendulum

This work presents the problem of adaptive optimal control law for a class of continuous-time systems with input disturbance and unknown parameters. The main objective is to find an adaptive optimal control law based on the adaptive dynamic programming (ADP) method and it is able to stabilize the closed-loop system. Besides, the convergence properties of proposed algorithm is pointed out. The theoretical analysis and simulation results demonstrate the performance of the proposed algorithm for inverted pendulum.

Dao Phuong Nam | Nguyen Thanh Long | Nguyen Van Huong | Ha Duc Minh

[1] Yu Jiang,et al. Robust Adaptive Dynamic Programming and Feedback Stabilization of Nonlinear Systems , 2014, IEEE Transactions on Neural Networks and Learning Systems.

[2] Zhong-Ping Jiang,et al. Adaptive optimal output regulation via output-feedback: An adaptive dynamic programing approach , 2016, 2016 IEEE 55th Conference on Decision and Control (CDC).

[3] Zhong-Ping Jiang,et al. Output-feedback adaptive optimal control of interconnected systems based on robust adaptive dynamic programming , 2016, Autom..

[4] Zhong-Ping Jiang,et al. Robust adaptive dynamic programming for linear and nonlinear systems: An overview , 2013, Eur. J. Control.

[5] Derong Liu,et al. An Approximate Optimal Control Approach for Robust Stabilization of a Class of Discrete-Time Nonlinear Systems With Uncertainties , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[6] Leiba Rodman,et al. Algebraic Riccati equations , 1995 .

[7] Guang-Hong Yang,et al. Adaptive Actor–Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[8] G. Hewer. An iterative technique for the computation of the steady state gains for the discrete optimal regulator , 1971 .

[9] Zhong-Ping Jiang,et al. Computational adaptive optimal control for continuous-time linear systems with completely unknown dynamics , 2012, Autom..