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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.1900610


Indirect adaptive fuzzy-regulated optimal control for unknown continuous-time nonlinear systems


Author(s):  Hai-yun ZHANG, De-yuan MENG, Jin WANG, Guo-dong LU

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, ZheJiang University, Hangzhou 310027, China; more

Corresponding email(s):   gray_sun@zju.edu.cn, tinydreams@126.com, dwjcom@zju.edu.cn, lugd@zju.edu.cn

Key Words:  Indirect adaptive optimal control, Hamilton-Jacobi-Bellman equation, Fuzzy-regulated critic, Adaptive optimal control actor, Actor-critic structure, Unknown nonlinear systems


Hai-yun ZHANG, De-yuan MENG, Jin WANG, Guo-dong LU. Indirect adaptive fuzzy-regulated optimal control for unknown continuous-time nonlinear systems[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
In this study, we present a novel indirect adaptive fuzzy-regulated optimal control (IAFOC) scheme for continuous-time nonlinear systems with unknown dynamics, mismatches and disturbances. Initially, the Hamilton-Jacobi-Bellman (HJB) equation associated with its performance function is derived for the original nonlinear systems. Unlike existing adaptive dynamic programming (ADP) approaches, this scheme utilizes a special non-quadratic variable performance function as the reinforcement medium in the actor-critic architecture. A fuzzy-regulated adaptive critic structure is correspondingly constructed to configure the weighting matrix of the performance function for the purpose of approximating and balancing the HJB equation. A concurrent self-organizing learning technique is designed to adaptively update the critic weights. Based on this particular critic, an adaptive optimal feedback controller is then developed as the actor with a new form of augmented Riccati equation to optimize the fuzzy-regulated variable performance function in real time. The result is an online indirect adaptive optimal control mechanism implemented as an actor-critic structure which involves simultaneous continuous-time adaptation of both the optimal cost and the optimal control policy. The convergence and close-loop stability of the proposed indirect adaptive optimal system is proven and guaranteed. Simulation examples and comparisons with the ADP approach show the effectiveness and advantages of the proposed method.

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