非线性零和微分对策的事件触发自适应动态规划算法
TP273; 针对一类非线性零和微分对策问题,本文提出了一种事件触发自适应动态规划(event-triggered adaptive dynamic programming, ET-ADP)算法在线求解其鞍点.首先,提出一个新的自适应事件触发条件.然后,利用一个输入为采样数据的神经网络(评价网络)近似最优值函数,并设计了新型的神经网络权值更新律使得值函数、控制策略及扰动策略仅在事件触发时刻同步更新.进一步地,利用Lyapunov稳定性理论证明了所提出的算法能够在线获得非线性零和微分对策的鞍点且不会引起Zeno行为.所提出的ET-ADP算法仅在事件触发条件满足时才更新值函数、控制策略和扰动策略,...
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| Published in | 控制理论与应用 Vol. 35; no. 5; pp. 610 - 618 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | Chinese |
| Published |
沈阳师范大学科信软件学院,辽宁沈阳,110034%中国石油大学(华东)信息与控制工程学院,山东青岛,266580
01.05.2018
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1000-8152 |
| DOI | 10.7641/CTA.2017.70674 |
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| Abstract | TP273; 针对一类非线性零和微分对策问题,本文提出了一种事件触发自适应动态规划(event-triggered adaptive dynamic programming, ET-ADP)算法在线求解其鞍点.首先,提出一个新的自适应事件触发条件.然后,利用一个输入为采样数据的神经网络(评价网络)近似最优值函数,并设计了新型的神经网络权值更新律使得值函数、控制策略及扰动策略仅在事件触发时刻同步更新.进一步地,利用Lyapunov稳定性理论证明了所提出的算法能够在线获得非线性零和微分对策的鞍点且不会引起Zeno行为.所提出的ET-ADP算法仅在事件触发条件满足时才更新值函数、控制策略和扰动策略,因而可有效减少计算量和降低网络负荷.最后,两个仿真例子验证了所提出的ET-ADP算法的有效性. |
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| AbstractList | TP273; 针对一类非线性零和微分对策问题,本文提出了一种事件触发自适应动态规划(event-triggered adaptive dynamic programming, ET-ADP)算法在线求解其鞍点.首先,提出一个新的自适应事件触发条件.然后,利用一个输入为采样数据的神经网络(评价网络)近似最优值函数,并设计了新型的神经网络权值更新律使得值函数、控制策略及扰动策略仅在事件触发时刻同步更新.进一步地,利用Lyapunov稳定性理论证明了所提出的算法能够在线获得非线性零和微分对策的鞍点且不会引起Zeno行为.所提出的ET-ADP算法仅在事件触发条件满足时才更新值函数、控制策略和扰动策略,因而可有效减少计算量和降低网络负荷.最后,两个仿真例子验证了所提出的ET-ADP算法的有效性. |
| Abstract_FL | In this paper, an event-triggered adaptive dynamic programming algorithm (ET-ADP) is proposed to solve the saddle point of a class of nonlinear zero-sum differential games. Firstly, a new adaptive event-triggered condition is proposed. Then, a neural network (critic network) with the sampled state as its input is utilized to approximate the optimal value function. The new neural network weights updating law is designed to enable the value function, the control strategy and the disturbance strategy to be updated synchronously only at the event-triggered time. Further, the Lyapunov stability theory is used to prove that the proposed algorithm can obtain the saddle point of nonlinear zero-sum differential games online and avoid the occurrence of Zeno behavior. In the proposed ET-ADP algorithm, the value function, the control strategy and the disturbance strategy are updated only when the event-triggered condition is satisfied, as a result of which the computational burden is reduced and the network burden is eased effectively. Finally, two simulation examples validate the effectiveness of the proposed ET-ADP algorithm. |
| Author | 张欣 张勇 崔黎黎 |
| AuthorAffiliation | 沈阳师范大学科信软件学院,辽宁沈阳,110034%中国石油大学(华东)信息与控制工程学院,山东青岛,266580 |
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| Author_FL | ZHANG Xin CUI Li-li ZHANG Yong |
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| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
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| DocumentTitle_FL | Event-triggered adaptive dynamic programming algorithm for the nonlinear zero-sum differential games |
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| Keywords | 最优控制 adaptive dynamic programming nonlinear zero-sum differential games event-triggered 自适应动态规划 optimal control 非线性零和微分对策 事件触发 神经网络 |
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| Title | 非线性零和微分对策的事件触发自适应动态规划算法 |
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