Robust approximate dynamic programming and global stabilization with nonlinear dynamic uncertainties

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages115-120
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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). [6160279] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6160279