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Approximate dynamic programming formulation implemented with an Adaptive Critic (AC) based neural network (NN) structure has evolved as a powerful alternative technique that eliminates the need for excessive computations and storage requirements needed for solving the Hamilton-Jacobi-Bellman (HJB) equations. A typical AC structure consists of two interacting NNs. In this paper, a novel architecture,...
For a class of multi input and multi output nonlinear uncertain systems, a feedback linearization method combined with minimax linear quadratic regulator (LQR) control is proposed. The nominal nonlinear model is assumed to be feedback linearizable with full relative degree. The uncertainties are assumed to be parametric or parameterized and satisfy a certain integral quadratic constraint condition...
A sufficient condition to solve an optimal control problem is to solve the Hamilton-Jacobi-Bellman (HJB) equation. However, finding a value function that satisfies the HJB equation for a nonlinear system is challenging. Inverse optimal control is an alternative method to solve the nonlinear optimal control problem by circumventing the need to solve the HJB equation. Inverse optimal adaptive control...
In this paper, constrained controller design is proposed for a class of nonlinear discrete-time uncertain system having matched type system uncertainties, using the solution of HJB (Hamilton-Jaccobi-Bellman) equation. The discrete-time HJB equation is formulated using a suitable non-quadratic term in the performance functional to tackle constraints on the control input. Based on the non-quadratic...
In this paper, a Hamilton-Jacobi-Bellman (HJB) equation based optimal control algorithm for robust controller design, is proposed for a nonlinear system. Utilizing the Lyapunov direct method, controller is shown to be optimal with respect to a cost functional that includes maximum bound on system uncertainty. Controller is continuous and requires the knowledge of the upper bound of system uncertainty...
In this paper, the Variable Structure Control (VSC) method is integrated with a nonlinear suboptimal control method based on Control Lyapunov Function (CLF). According to the system nominal part, a CLF is first constructed in general to facilitate the nonlinear optimal system design and Sontagpsilas formula is used in particular to generate a suboptimal controller. To take system uncertainties into...
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