Adaptive optimal control algorithm for continuous-time nonlinear systems based on policy iteration

Author

Vrabie, D. ; Lewis, F.L.

Author_Institution

Autom. & Robot. Res. Inst., Univ. of Texas at Arlington, Fort Worth, TX, USA

fYear

2008

fDate

9-11 Dec. 2008

Firstpage

73

Lastpage

79

Abstract

In this paper we develop a new online adaptive control scheme, for partially unknown nonlinear systems, which converges to the optimal state feedback control solution for affine in the inputs nonlinear systems. The derivation of the optimal adaptive control algorithm is presented in a continuous-time framework. The optimal control solution will be obtained in a direct fashion, without system identification. The algorithm is an online approach to policy iterations based on an adaptive critic structure to find an approximate solution to the state feedback, infinite-horizon, optimal control problem.

Keywords

adaptive control; continuous time systems; nonlinear control systems; optimal control; state feedback; adaptive optimal control algorithm; continuous-time nonlinear systems; infinite-horizon problem; optimal state feedback control; partially unknown nonlinear systems; policy iteration; Adaptive control; Control systems; Cost function; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Optimal control; Programmable control; Riccati equations;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Conference_Location

Cancun

ISSN

0191-2216

Print_ISBN

978-1-4244-3123-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2008.4738955

Filename

4738955