Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties

Yu Jiang; Zhong Ping Jiang

doi:10.1109/CDC.2011.6160279

Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties

Yu Jiang, Zhong Ping Jiang

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We propose a framework of robust approximate dynamic programming (robust-ADP), which is aimed at computing globally asymptotically stabilizing, suboptimal, control laws with robustness to dynamic uncertainties, via on-line/off-line learning. The system studied in this paper is an interconnection of a linear model with fully measurable state and unknown dynamics, and a nonlinear system with unmeasured state and unknown system order and dynamics. Differently from other ADP schemes in the past literature, the robust-ADP framework allows for learning from an unknown environment in the presence of dynamic uncertainties. The main contribution of the paper is to show that robust optimal control problems can be solved by integration of ADP and small-gain techniques.

Original language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	115-120
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6160279
State	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2011.6160279

Cite this

Jiang, Y., & Jiang, Z. P. (2011). Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 115-120). Article 6160279 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6160279

Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties. / Jiang, Yu; Jiang, Zhong Ping.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 115-120 6160279 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jiang, Y & Jiang, ZP 2011, Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160279, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 115-120, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160279

Jiang Y, Jiang ZP. Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 115-120. 6160279. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6160279

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Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties

Abstract

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