+ Site Statistics
+ Search Articles
+ PDF Full Text Service
How our service works
Request PDF Full Text
+ Follow Us
Follow on Facebook
Follow on Twitter
Follow on LinkedIn
+ Subscribe to Site Feeds
Most Shared
PDF Full Text
+ Translate
+ Recently Requested

Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints



Reinforcement-Learning-Based Robust Controller Design for Continuous-Time Uncertain Nonlinear Systems Subject to Input Constraints



IEEE Transactions on Cybernetics 45(7): 1372-1385



The design of stabilizing controller for uncertain nonlinear systems with control constraints is a challenging problem. The constrained-input coupled with the inability to identify accurately the uncertainties motivates the design of stabilizing controller based on reinforcement-learning (RL) methods. In this paper, a novel RL-based robust adaptive control algorithm is developed for a class of continuous-time uncertain nonlinear systems subject to input constraints. The robust control problem is converted to the constrained optimal control problem with appropriately selecting value functions for the nominal system. Distinct from typical action-critic dual networks employed in RL, only one critic neural network (NN) is constructed to derive the approximate optimal control. Meanwhile, unlike initial stabilizing control often indispensable in RL, there is no special requirement imposed on the initial control. By utilizing Lyapunov's direct method, the closed-loop optimal control system and the estimated weights of the critic NN are proved to be uniformly ultimately bounded. In addition, the derived approximate optimal control is verified to guarantee the uncertain nonlinear system to be stable in the sense of uniform ultimate boundedness. Two simulation examples are provided to illustrate the effectiveness and applicability of the present approach.

Please choose payment method:






(PDF emailed within 0-6 h: $19.90)

Accession: 058727073

Download citation: RISBibTeXText

PMID: 25872221

DOI: 10.1109/tcyb.2015.2417170


Related references

Reinforcement learning neural-network-based controller for nonlinear discrete-time systems with input constraints. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 37(2): 425-436, 2007

Value iteration based integral reinforcement learning approach for H controller design of continuous-time nonlinear systems. Neurocomputing 285: 51-59, 2018

Robust observer-based H controller design for linear uncertain time-delay systems. Automatica 33(9): 1749-1752, 1997

Reinforcement learning controller design for affine nonlinear discrete-time systems using online approximators. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 42(2): 377-390, 2011

Reinforcement learning-based output feedback control of nonlinear systems with input constraints. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 35(1): 150-154, 2005

Robust controller design for uncertain nonlinear systems via feedback linearization. Chemical Engineering Science 50(9): 1429-1439, 1995

Robust ADP Design for Continuous-Time Nonlinear Systems With Output Constraints. IEEE Transactions on Neural Networks and Learning Systems 29(6): 2127-2138, 2018

Integral reinforcement learning for continuous-time input-affine nonlinear systems with simultaneous invariant explorations. IEEE Transactions on Neural Networks and Learning Systems 26(5): 916-932, 2014

Adaptive and robust controller design for uncertain nonlinear systems via fuzzy modeling approach. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 34(1): 166-178, 2004

Adaptive Neural Network Learning Controller Design for a Class of Nonlinear Systems With Time-Varying State Constraints. IEEE Transactions on Neural Networks and Learning Systems 2019, 2019

Robust adaptive controller design for a class of uncertain nonlinear systems using online T-S fuzzy-neural modeling approach. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 41(2): 542-552, 2011

Robust controller design for uncertain systems with time delays: LMI approach. Automatica 32(8): 1229-1231, 1996

Robust controller design for uncertain systems with variable time delay. Control Engineering Practice 9(9): 961-972, 2001

State observer based robust adaptive fuzzy controller for nonlinear uncertain and perturbed systems. IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 34(2): 942-950, 2004

Neural-network-based online HJB solution for optimal robust guaranteed cost control of continuous-time uncertain nonlinear systems. IEEE Transactions on Cybernetics 44(12): 2834-2847, 2015