Discounted Iterative Adaptive Critic Designs With Novel Stability Analysis for Tracking Control  

作　　者：Mingming Ha Ding Wang Derong Liu 

机构地区：[1]School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China [2]Faculty of Information Technology,the Beijing Key Laboratory of Computational Intelligence and Intelligent System,the Beijing Laboratory of Smart Environmental Protection,and the Beijing Institute of Artificial Intelligence,Beijing University of Technology,Beijing 100124,China [3]Department of Electrical and Computer Engineering,University of Illinois at Chicago,Chicago IL 60607 USA [4]IEEE

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第7期1262-1272,共11页自动化学报（英文版）

基　　金：This work was supported in part by Beijing Natural Science Foundation(JQ19013);the National Key Research and Development Program of China(2021ZD0112302);the National Natural Science Foundation of China(61773373).

摘　　要：The core task of tracking control is to make the controlled plant track a desired trajectory.The traditional performance index used in previous studies cannot eliminate completely the tracking error as the number of time steps increases.In this paper,a new cost function is introduced to develop the value-iteration-based adaptive critic framework to solve the tracking control problem.Unlike the regulator problem,the iterative value function of tracking control problem cannot be regarded as a Lyapunov function.A novel stability analysis method is developed to guarantee that the tracking error converges to zero.The discounted iterative scheme under the new cost function for the special case of linear systems is elaborated.Finally,the tracking performance of the present scheme is demonstrated by numerical results and compared with those of the traditional approaches.

关 键 词：Adaptive critic design adaptive dynamic programming(ADP) approximate dynamic programming discrete-time nonlinear systems reinforcement learning stability analysis tracking control value iteration(VI) 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]