Discrete-Time Neural Inverse Optimal Control for Nonlinear Systems via Passivation

被引：31
|
作者：
Ornelas-Tellez, Fernando [1 ]
Sanchez, Edgar N. [2 ]
Loukianov, Alexander G. [2 ]
机构：
[1] Univ Michoacana, Div Estudios Posgrad, Fac Ingn Elect, Morelia 58030, Michoacan, Mexico
[2] IPN, Ctr Invest & Estudios Avanzados, Unidad Guadalajara, Guadalajara 45019, Jalisco, Mexico
来源：
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS | 2012年 / 23卷 / 08期
关键词：
Control Lyapunov function; inverse optimal control; passivity; recurrent neural network; trajectory tracking; STABILIZATION; DESIGN; CONVERGENCE; DRIVEN; NOISE;
D O I：
10.1109/TNNLS.2012.2200501
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a discrete-time inverse optimal neural controller, which is constituted by combination of two techniques: 1) inverse optimal control to avoid solving the Hamilton-Jacobi-Bellman equation associated with nonlinear system optimal control and 2) on-line neural identification, using a recurrent neural network trained with an extended Kalman filter, in order to build a model of the assumed unknown nonlinear system. The inverse optimal controller is based on passivity theory. The applicability of the proposed approach is illustrated via simulations for an unstable nonlinear system and a planar robot.
引用
收藏
页码：1327 / 1339
页数：13
相关论文
共 50 条
  • [1] Discrete-time neural inverse optimal control for nonlinear systems via passivation
    Ornelas-Tellez, Fernando
    Sanchez, Edgar N.
    Loukianov, Alexander G.
    IEEE Transactions on Neural Networks and Learning Systems, 2012, 23 (08): : 1327 - 1339
  • [2] Inverse optimal control for discrete-time nonlinear systems via passivation
    Ornelas-Tellez, Fernando
    Sanchez, Edgar N.
    Loukianov, Alexander G.
    OPTIMAL CONTROL APPLICATIONS & METHODS, 2014, 35 (01): : 110 - 126
  • [3] Neural Inverse Optimal Control for Discrete-Time Uncertain Nonlinear Systems Stabilization
    Ornelas-Tellez, Fernando
    Sanchez, Edgar N.
    Garcia-Hernandez, Ramon
    Ruz-Hernandez, Jose A.
    Rullan-Lara, Jose L.
    2012 INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS (IJCNN), 2012,
  • [4] Inverse optimal neural control for a class of discrete-time nonlinear positive systems
    Leon, Blanca S.
    Alanis, Alma Y.
    Sanchez, Edgar N.
    Ruiz-Velazquez, Eduardo
    Ornelas-Tellez, Fernando
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2012, 26 (07) : 614 - 629
  • [5] Neural inverse optimal control for discrete-time impulsive systems
    Hernandez-Mejia, Gustavo
    Alanis, Alma Y.
    Hernandez-Vargas, Esteban A.
    NEUROCOMPUTING, 2018, 314 : 101 - 108
  • [6] Discrete-time Inverse Optimal Control for Nonlinear Systems Trajectory Tracking
    Ornelas, Fernando
    Sanchez, Edgar N.
    Loukianov, Alexander G.
    49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2010, : 4813 - 4818
  • [7] Discrete-time robust inverse optimal control for a class of nonlinear systems
    CINVESTAV Unidad Guadalajara, Jalisco 45019, Mexico
    IFAC Proc. Vol. (IFAC-PapersOnline), 1 PART 1 (8595-8600):
  • [8] Inverse optimal control for discrete-time stochastic nonlinear systems stabilization
    Elvira-Ceja, Santiago
    Sanchez, Edgar N.
    Proceedings of the American Control Conference, 2013, : 4682 - 4686
  • [9] Inverse Optimal Control for Discrete-Time Stochastic Nonlinear Systems Stabilization
    Elvira-Ceja, Santiago
    Sanchez, Edgar N.
    2013 AMERICAN CONTROL CONFERENCE (ACC), 2013, : 4682 - 4686
  • [10] Discrete-Time Inverse Optimal Control for Block Control Form Nonlinear Systems
    Ornelas-Tellez, Fernando
    Sanchez, Edgar N.
    Loukianov, Alexander G.
    2012 WORLD AUTOMATION CONGRESS (WAC), 2012,
12345