Multiple Actor-Critic Structures for Continuous-Time Optimal Control Using Input-Output Data

Ruizhuo Song, Frank Lewis, Qinglai Wei, Hua Guang Zhang, Zhong Ping Jiang, Dan Levine

Research output: Contribution to journalArticlepeer-review


In industrial process control, there may be multiple performance objectives, depending on salient features of the input-output data. Aiming at this situation, this paper proposes multiple actor-critic structures to obtain the optimal control via input-output data for unknown nonlinear systems. The shunting inhibitory artificial neural network (SIANN) is used to classify the input-output data into one of several categories. Different performance measure functions may be defined for disparate categories. The approximate dynamic programming algorithm, which contains model module, critic network, and action network, is used to establish the optimal control in each category. A recurrent neural network (RNN) model is used to reconstruct the unknown system dynamics using input-output data. NNs are used to approximate the critic and action networks, respectively. It is proven that the model error and the closed unknown system are uniformly ultimately bounded. Simulation results demonstrate the performance of the proposed optimal control scheme for the unknown nonlinear system.

Original languageEnglish (US)
Article number7050362
Pages (from-to)851-865
Number of pages15
JournalIEEE transactions on neural networks and learning systems
Issue number4
StatePublished - Apr 1 2015


  • Actor-critic
  • approximate dynamic programming (ADP)
  • category
  • optimal control
  • shunting inhibitory artificial neural network (SIANN)

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Computer Networks and Communications
  • Artificial Intelligence


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