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Action dependent heuristic online tracking control for a class of nonaffine systems
- Chinese Journal of Intelligent Science and Technology Vol. 3, Issue 4, Pages: 449-455(2021)
- 作者机构：
1. 北京工业大学信息学部，北京 100124
2. 计算智能与智能系统北京市重点实验室，北京 100124
3. 北京人工智能研究院，北京 100124
4. 智慧环保北京实验室，北京 100124
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202144
CLC： TP13-
Published Online：2021-12，
Published：15 December 2021
- 稿件说明：
移动端阅览
Huiling ZHAO, Ding WANG, Jin REN. Action dependent heuristic online tracking control for a class of nonaffine systems[J]. Chinese journal of intelligent science and technology, 2021, 3(4): 449-455.
Huiling ZHAO, Ding WANG, Jin REN. Action dependent heuristic online tracking control for a class of nonaffine systems[J]. Chinese journal of intelligent science and technology, 2021, 3(4): 449-455. DOI： 10.11959/j.issn.2096-6652.202144.
摘要
针对非仿射系统的跟踪控制问题，提出一种基于执行依赖启发式动态规划（ADHDP）结构的在线设计方法。首先，考虑一类未知非仿射系统，进行从跟踪控制问题到误差调节问题的转换；然后，设计基于 ADHDP结构的跟踪控制器，并采用在线学习的方式，实现系统控制与执行网络和评判网络的训练同步，使得系统状态能够跟踪期望轨迹；最后，通过一个仿真实例验证所提方法的有效性。
Abstract
To solve the tracking control problem for nonaffine systems
an online design method was developed by using the action dependent heuristic dynamic programming (ADHDP) structure.Firstly
the tracking control problem for the unknown nonaffine system was transformed into the error regulation problem.Then
the ADHDP tracking controller was designed and the online learning method was adopted to synchronize the system control with the training of action networks and critic networks
so that the desired trajectory could be tracked by the system state.Finally
a simulation example was given to verify the effectiveness of the proposed method.
关键词
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references
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