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Local Tracking Control for Unknown Interconnected Systems via Neuro-Dynamic Programming

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Neural Information Processing (ICONIP 2018)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 11307))

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Abstract

This paper develops a neuro-dynamic programming based local tracking control (LTC) scheme for unknown interconnected systems. By using the local input-output data and the desired states of coupling subsystems, a local neural network (NN) identifier is established to obtain the local input gain matrix online. By introducing a modified local cost function, the Hamilton-Jacobi-Bellman equation is solved by a local critic NN with asymptotically convergent weight vector, which is obtained by nested update law, and the LTC can be derived with the desired state aided augmented subsystem. The stability of the closed-loop system is shown by Lyapunov’s direct method. The simulation on the parallel inverted pendulum system illustrates that the developed LTC scheme is effective.

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Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grants 61603387, 61773075, 61533017 and 61773373, and in part by the Early Career Development Award of SKLMCCS under Grant 20180201.

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Authors and Affiliations

  1. The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Bo Zhao, Ding Wang, Yancai Xu & Qinglai Wei

  2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China

    Derong Liu

  3. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Mingming Ha

Authors
  1. Bo Zhao
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  2. Derong Liu
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  3. Mingming Ha
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  4. Ding Wang
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  5. Yancai Xu
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  6. Qinglai Wei
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Corresponding author

Correspondence to Bo Zhao .

Editor information

Editors and Affiliations

  1. The Chinese Academy of Sciences, Beijing, China

    Long Cheng

  2. City University of Hong Kong, Kowloon, Hong Kong

    Andrew Chi Sing Leung

  3. Kobe University, Kobe, Japan

    Seiichi Ozawa

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Zhao, B., Liu, D., Ha, M., Wang, D., Xu, Y., Wei, Q. (2018). Local Tracking Control for Unknown Interconnected Systems via Neuro-Dynamic Programming. In: Cheng, L., Leung, A., Ozawa, S. (eds) Neural Information Processing. ICONIP 2018. Lecture Notes in Computer Science(), vol 11307. Springer, Cham. https://doi.org/10.1007/978-3-030-04239-4_23

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  • DOI: https://doi.org/10.1007/978-3-030-04239-4_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-04238-7

  • Online ISBN: 978-3-030-04239-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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