控制理论(社会学)
动态规划
趋同(经济学)
控制器(灌溉)
内部模型
迭代学习控制
最优控制
计算机科学
系统动力学
数学优化
国家(计算机科学)
自适应控制
方案(数学)
控制(管理)
数学
算法
人工智能
数学分析
经济
生物
经济增长
农学
作者
Kedi Xie,Yao Zheng,Weiyao Lan,Xiaoning Yu
标识
DOI:10.1016/j.conengprac.2023.105675
摘要
This paper proposes a value iteration based learning algorithm to solve the optimal output regulation problem for linear continuous-time systems, which aims at achieving disturbance rejection and asymptotic tracking simultaneously. Notably, the state is unmeasurable and the system dynamics is completely unknown, which greatly increases the challenge of solving the output regulation problem. Firstly, we present a dynamic output feedback controller design method by combining the internal model, setting a virtual exo-system, and constructing the augmented internal state without using any knowledge of system. Then, by establishing a novel iterative learning equation which requires no repeated finite window integral operations, an adaptive dynamic programming based learning algorithm with employing value-iteration scheme is proposed to estimate the optimal feedback control gain, which may lead to a reduction of the computational load. The analysis on solvability and convergence shows that the estimated control gain converges to the optimal control gain. Finally, a physical experiment on control of an unmanned quadrotor illustrates the effectiveness of the proposed algorithm.
科研通智能强力驱动
Strongly Powered by AbleSci AI