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dc.contributor.authorLakshmikanth, Geethalakshmi S.
dc.contributor.authorPadhi, Radhakant
dc.contributor.authorWatkins, John Michael
dc.contributor.authorSteck, James E.
dc.date.accessioned2012-03-30T21:18:10Z
dc.date.available2012-03-30T21:18:10Z
dc.date.issued2011-09-28
dc.identifier.citationLakshmikanth, G.S.; Padhi, R.; Watkins, J.M.; Steck, J.E.; , "Single Network Adaptive Critic aided nonlinear dynamic inversion for suboptimal command tracking," Intelligent Control (ISIC), 2011 IEEE International Symposium on , vol., no., pp.1347-1352, 28-30 Sept. 2011 doi: 10.1109/ISIC.2011.6045420en_US
dc.identifier.isbn9781457711046
dc.identifier.issn2158-9860
dc.identifier.otherWOS: 000297500400030
dc.identifier.urihttp://hdl.handle.net/10057/5022
dc.identifier.urihttp://dx.doi.org/10.1109/ISIC.2011.6045420
dc.descriptionClick on the DOI link below to access the article (may not be free).en_US
dc.description.abstractUsing the Approximate Dynamic Programming (ADP) approach, nonlinear optimal control problems can be solved by using a dual neural network architecture called the Adaptive Critic (AC). A Single Network Adaptive Critic (SNAC) architecture has been shown to have much faster convergence than AC. Even though the SNAC offers a systematic optimal control design method for optimal state regulation for a class of nonlinear control systems, it lacks the generality necessary for command tracking as it is practically difficult to anticipate a proper training domain in state space when the command sequence is not known a priori. Dynamic Inversion (DI), on the other hand, is a very popular nonlinear control design method for both output regulation and command tracking that offers a closed form expression for control. However, it lacks the interpretation and advantages of optimal control design. In this paper we propose a systematic technique for selecting the DI gains with the help of a pre-synthesized SNAC network in order that the resulting DI solution closely mimics the SNAC solution for output regulation and can be extended to command tracking problems. Moreover, it retains all the benefits of DI design. The potential of this new methodology of near-optimal dynamic inversion design is demonstrated in this paper by considering a benchmark nonlinear system.en_US
dc.language.isoen_USen_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE International Symposium on Intelligent Control (ISIC)/IEEE Multi-Conference on Systems and Control (MSC)
dc.relation.ispartofseriesIntelligent Control (ISIC), 2011 IEEE International Symposium on;2011
dc.subjectControl designen_US
dc.subjectCost functionen_US
dc.subjectEquationsen_US
dc.subjectMathematical modelen_US
dc.subjectNonlinear systemsen_US
dc.subjectOptimal controlen_US
dc.subjectTrainingen_US
dc.subject.classificationCOMPUTER SCIENCE
dc.subject.classificationENGINEERING
dc.titleSingle Network Adaptive Critic aided nonlinear dynamic inversion for suboptimal command trackingen_US
dc.typeConference paperen_US
dc.description.versionPeer reviewed article
dc.rights.holderCopyright © 2011, IEEE


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