一类非仿射系统的执行依赖启发式在线跟踪控制

doi:10.11959/j.issn.2096-6652.202144

Chinese Journal of Intelligent Science and Technology ›› 2021, Vol. 3 ›› Issue (4): 449-455.doi: 10.11959/j.issn.2096-6652.202144

• Special Column: Data Based Learning and Optimization • Previous Articles Next Articles

Action dependent heuristic online tracking control for a class of nonaffine systems

Huiling ZHAO¹^,²^,³^,⁴, Ding WANG¹^,²^,³^,⁴, Jin REN¹^,²^,³^,⁴

¹ Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China
² Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China
³ Beijing Institute of Artificial Intelligence, Beijing 100124, China
⁴ Beijing Laboratory of Smart Environmental Protection, Beijing 100124, China

Revised:2021-11-20 Online:2021-12-15 Published:2021-12-01
Supported by:
The National Natural Science Foundation of China(61773373);The National Natural Science Foundation of China(61890930-5);The National Natural Science Foundation of China(62021003);The National Key Research and Development Project of China(2021ZD0112300-2);The National Key Research and Development Project of China(2018YFC1900800-5);Beijing Natural Science Foundation(JQ19013)

Abstract

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.

Key words: tracking control, online learning, action dependent design

CLC Number:

TP13

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.

Figures/Tables 7

$Q$	R	λ _c、λ_a	N _c、N_a	ρ _c、ρ_a
$[\begin{matrix} 0.01 & 0 \\ 0 & 0.5 \end{matrix}]$	0.01	0.05	1 000	1×10^{- 12}

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