Cart (Loading....) | Create Account
Close category search window

Online actor critic algorithm to solve the continuous-time infinite horizon optimal control problem

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Vamvoudakis, K.G. ; Autom. & Robot. Res. Inst., Univ. of Texas at Arlington, Fort Worth, TX, USA ; Lewis, F.L.

In this paper we discuss an online algorithm based on policy iteration for learning the continuous-time (CT) optimal control solution with infinite horizon cost for nonlinear systems with known dynamics. We present an online adaptive algorithm implemented as an actor/critic structure which involves simultaneous continuous-time adaptation of both actor and critic neural networks. We call this dasiasynchronouspsila policy iteration. A persistence of excitation condition is shown to guarantee convergence of the critic to the actual optimal value function. Novel tuning algorithms are given for both critic and actor networks, with extra terms in the actor tuning law being required to guarantee closed-loop dynamical stability. The convergence to the optimal controller is proven, and stability of the system is also guaranteed. Simulation examples show the effectiveness of the new algorithm.

Published in:

Neural Networks, 2009. IJCNN 2009. International Joint Conference on

Date of Conference:

14-19 June 2009

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.