基于评价网络近似误差的自适应动态规划优化控制-控制与决策.PDF

第30 卷 第3 期 控 制 与 决 策 2015 年 3 月 Vol. 30 No. 3 Control and Decision Mar. 2015 文章编号: 1001-0920 (2015) 03-0495-05 DOI: 10.13195/j.kzyjc.2014.0102 基于评价网络近似误差的自适应动态规划优化控制 林小峰, 丁 强 (广西大学电气工程学院，南宁530004) 摘 要: 为了求解有限时域最优控制问题, 自适应动态规划(ADP) 算法要求受控系统能一步控制到零. 针对不能一 步控制到零的非线性系统, 提出一种改进的ADP 算法, 其初始代价函数由任意的有限时间容许序列构造. 推导了算 法的迭代过程并证明了算法的收敛性. 当考虑评价网络的近似误差并满足假设条件时, 迭代代价函数将收敛到最优 代价函数的有界邻域. 仿真例子验证了所提出方法的有效性. 关键词: 自适应动态规划；优化控制；人工神经网络；近似误差 中图分类号: TP18 文献标志码: A Adaptive dynamic programming optimal control based on approximation error of critic network LIN Xiao-feng, DING Qiang (School of Electrical Engineering，Guangxi University，Nanning 530004 ，China ．Correspondent ：DING Qiang, E-mail ：819476292@) Abstract: In order to solve finite horizon optimal control problems, the adaptive dynamic programming(ADP) algorithm demands the system can reach zero in one step of control. For the nonlinear systems which cannot be controlled to zero in one step, an improved ADP algorithm is presented, and the initial cost is constructed by arbitrary finite horizon admissible sequence. After giving the iterative process, the convergence analysis of the improved algorithm is conducted. If the approximation error of the critic network is considered and several assumptions are satisfied, the iterative cost function will converge to a finite neighborhood of the optimal cost function. A simulation example is provided to verify the effectiveness of the presented approach. Keywords: adaptive dynamic programming ；optimal control ；artificial neural network ；approximation error 0 引引引 言言言 解离散系统最优控制问题提供了理