Continuous-time Single Network Adaptive Critic for Regulator Design of Nonlinear Control Affine Systems

Kumar, Swagat and Padhi, Radhakant and Behera, Laxmidhar (2008) Continuous-time Single Network Adaptive Critic for Regulator Design of Nonlinear Control Affine Systems. In: Proceedings of the 17th World Congress The International Federation of Automatic Control, July 6-11, 2008, Seoul, Korea.

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Abstract

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 even for a moderately complex system. In this paper, we propose a continuoustime single network adaptive critic scheme for nonlinear control affine systems where the optimal cost-to-go function is approximated using a parametric positive semi-definite function. Unlike earlier approaches, a continuous-time weight update law is derived from the HJB equation. The stability of the system is analysed during the evolution of weights using Lyapunov theory. The effectiveness of the scheme is demonstrated through simulation examples.

Item Type:	Conference Paper
Keywords:	Optimal control theory;Regulation;Optimization based controller synthesis
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	29 Sep 2011 04:55
Last Modified:	29 Sep 2011 04:55
URI:	http://eprints.iisc.ac.in/id/eprint/40983

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