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Robust Actor-Critic Learning for Continuous-Time Nonlinear Systems with Unmodeled Dynamics
Yang,Yongliang1; Gao,Weinan2; Modares,Hamidreza3; Xu,Cheng Zhong4
2021
Source PublicationIEEE Transactions on Fuzzy Systems
ISSN1063-6706
AbstractThis paper considers the robust optimal control problem for a class of nonlinear systems in the presence of unmodeled dynamics. The adaptive optimal controller design is achieved by the online actor-critic learning, which is robust against the unmodeled dynamics. To deal with the unmodeled dynamics, a dynamical signal with the system state as the input signal is designed to capture the input-to-state stability. In addition to the critic network for value function approximation, a novel robustifying term is developed and introduced into the actor network and applied to the closed-loop system in the presence of the dynamical uncertainty due to the unmodeled dynamics. It is shown that both the actor and critic weights learning converge towards the optimum while guaranteeing the boundedness of all the signals in the closed-loop. Simulation examples are conducted to verify the efficacy of the presented scheme in the end.
KeywordFuzzy logic Heuristic algorithms input-to-state stability Nonlinear dynamical systems Optimal control optimal control Power system dynamics robust actor-critic learning Stability criteria Uncertainty unmodeled dynamics
DOI10.1109/TFUZZ.2021.3075501
URLView the original
Language英语
Scopus ID2-s2.0-85105098442
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Document TypeJournal article
CollectionFaculty of Science and Technology
Affiliation1.State Key Laboratory of Internet of Things for Smart City, University of Macau, 59193 Taipa, Macao, (e-mail: yangyongliang@ieee.org)
2.Department of Mechanical and Civil Engineering, Florida Institute of Technology, 5401 Melbourne, Florida, United States, (e-mail: wgao@fit.edu)
3.Department of Mechanical Engineering, Michigan State University, 3078 East Lansing, Michigan, United States, (e-mail: modaresh@msu.edu)
4.State Key Laboratory of Internet of Things for Smart City, University of Macau, 59193 Taipa, Macau, Macao, (e-mail: czxu@um.edu.cn)
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Yang,Yongliang,Gao,Weinan,Modares,Hamidreza,et al. Robust Actor-Critic Learning for Continuous-Time Nonlinear Systems with Unmodeled Dynamics[J]. IEEE Transactions on Fuzzy Systems,2021.
APA Yang,Yongliang,Gao,Weinan,Modares,Hamidreza,&Xu,Cheng Zhong.(2021).Robust Actor-Critic Learning for Continuous-Time Nonlinear Systems with Unmodeled Dynamics.IEEE Transactions on Fuzzy Systems.
MLA Yang,Yongliang,et al."Robust Actor-Critic Learning for Continuous-Time Nonlinear Systems with Unmodeled Dynamics".IEEE Transactions on Fuzzy Systems (2021).
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