Robust adaptive dynamic programming for optimal nonlinear control design

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic uncertainties, or unmodeled dynamics, are not addressed. A key strategy is to integrate tools from modern nonlinear control theory, such as the robust redesign and the backstepping techniques as well as the nonlinear small-gain theorem, with the theory of ADP. The proposed robust-ADP methodology can be viewed as a natural extension of ADP to uncertain nonlinear systems. A practical learning algorithm is developed in this paper, and has been applied to analyze a sensorimotor control problem.

Original languageEnglish (US)
Title of host publication2013 9th Asian Control Conference, ASCC 2013
DOIs
StatePublished - 2013
Event2013 9th Asian Control Conference, ASCC 2013 - Istanbul, Turkey
Duration: Jun 23 2013Jun 26 2013

Publication series

Name2013 9th Asian Control Conference, ASCC 2013

Other

Other2013 9th Asian Control Conference, ASCC 2013
CountryTurkey
CityIstanbul
Period6/23/136/26/13

ASJC Scopus subject areas

  • Control and Systems Engineering

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