Single network adaptive critic aided dynamic inversion for optimal regulation and command tracking with online adaptation for enhanced robustness
Lakshmikanth, Geethalakshmi S.
Watkins, John Michael
Steck, James E.
MetadataShow full item record
Lakshmikanth G. S., Padhi R., Watkins J. M. and Steck J. E. (2014), Single network adaptive critic aided dynamic inversion for optimal regulation and command tracking with online adaptation for enhanced robustness, Optim. Control Appl. Meth., vol. 35:no. 4:pp 479–500, doi: 10.1002/oca.2083
To combine the advantages of both stability and optimality-based designs, a single network adaptive critic (SNAC) aided nonlinear dynamic inversion approach is presented in this paper. Here, the gains of a dynamic inversion controller are selected in such a way that the resulting controller behaves very close to a pre-synthesized SNAC controller in the output regulation sense. Because SNAC is based on optimal control theory, it makes the dynamic inversion controller operate nearly optimal. More important, it retains the two major benefits of dynamic inversion, namely (i) a closed-form expression of the controller and (ii) easy scalability to command tracking applications without knowing the reference commands a priori. An extended architecture is also presented in this paper that adapts online to system modeling and inversion errors, as well as reduced control effectiveness, thereby leading to enhanced robustness. The strengths of this hybrid method of applying SNAC to optimize an nonlinear dynamic inversion controller is demonstrated by considering a benchmark problem in robotics, that is, a two-link robotic manipulator system. Copyright (C) 2013 John Wiley & Sons, Ltd.
Click on the DOI link to access the article (may not be free).
Showing items related by title, author, creator and subject.
Venom variation and chemoreception of the viperid Agkistrodon contortrix: evidence for adaptation? Greenbaum, Eli; Galeva, Nadezhda; Jorgensen, Michael J. (Springer, 2003-08)Previous studies of chemoreceptive behavior in vipers suggest that snakes focus on the scent of envenomated tissue to track their prey following envenomation. Other studies have indicated a correlation between qualitative ...
Bai, Guangxing; Wang, Pingfeng (IEEE, 2016-09)Prognostics and health management is an emerging engineering technology that has been applied to a large variety of engineering systems to improve system's reliability. However, existing prognostics approaches have been ...
Wang, Zequn; Wang, Pingfeng (Elsevier Ltd., 2015-10)Dynamic reliability measures reliability of an engineered system considering time-variant operation condition and component deterioration. Due to high computational costs, conducting dynamic reliability analysis at an early ...