HKBUtube

Distinguished lecture (Hong Kong Baptist University. Dept. of Computer Science)

1039 Views 觀看次數

Open to All 公開

00:00

Recommended Videos 影片推薦

Audio 語言

Self-Learning Control of Nonlinear Systems based on Iterative Adaptive Dynamic Programming Approach

DEPARTMENT:

Department of Computer Science

CONYTRIBUTOR / SPEAKER:

LIU, Derong

RELEASE DATE:

2013

LENGTH:

57 Minutes

VIDEO TYPE:

Scholarly Talks

The optimal control of nonlinear systems often requires solving the nonlinear Hamilton-Jacobi-Bellman (HJB) equation instead of the Riccati equation as in the linear case. The discrete-time HJB (DTHJB) equation is more difficult to work with than the Riccati equation because it involves solving nonlinear partial difference equations. Though dynamic programming has been a useful computational technique in solving optimal control problems for many years, it is often computationally untenable to run it to obtain the optimal solution, due to the backward numerical process required for its solutions, i.e., the well-known 'curse of dimensionality'. A self-learning control scheme for unknown nonlinear discrete-time systems is developed for this purpose. An iterative adaptive dynamic programming algorithm via globalized dual heuristic programming technique is developed to obtain the optimal controller with convergence analysis. Neural networks are used as parametric structures to facilitate the implementation of the iterative algorithm, which will approximate at each iteration the cost function, the optimal control law, and the unknown nonlinear system, respectively. Simulation examples are provided to verify the effectiveness of the present self-learning control approach.

Self-Learning Control of Nonlinear Systems based on Iterative Adaptive Dynamic Programming Approach

部門:

計算機科學系

講者:

LIU, Derong

發佈日期:

2013

影片長度:

57 分鐘

影片類型:

學術論壇

Self-Learning Control of Nonlinear Systems based on Iterative Adaptive Dynamic Programming Approach

部门:

计算机科学系

讲者:

LIU, Derong

发布日期:

2013

影片长度:

57 分钟

影片类型:

学术论坛

Full Disclaimer

This video is presented here with the permission of the producers. Any downloading, storage, reproduction, and redistribution are strictly prohibited without the prior permission of the respective producers. Go to Full Disclaimer.