Direct Adaptive Control using Single Network Adaptive Critic

机译：使用单一网络自适应评论仪直接自适应控制

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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.

机译：通过求解汉密尔顿 - 雅各比 - 贝尔曼方程，可以获得一般非线性系统的最佳控制法。然而，难以获得该等式的分析解决方案。在本文中，我们提出了一种用于仿射系统的直接自适应控制方法，其中使用批评网络近似最佳值函数，并导出权重律法以满足HJB方程。这提供了一种解决HJB方程实时解决HJB方程的替代方法，从而为引入一些最佳概念来直接自适应控制范例来铺平道路。对线性化的质量弹簧阻尼系统证明了该方案的功效，其性能与LQR的性能进行了比较。

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《IEEE International Conference on System of Systems Engineering》|2007年||共6页
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Swagat Kumar; Radhakant Padhi; Laxmidhar Behera;
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中图分类 N945-53;
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Direct Adaptive Control using Single Network Adaptive Critic

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