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نتیجه جستجو - Event-triggered control

تعداد مقالات یافته شده: 3
ردیف عنوان نوع
1 Integral reinforcement learning based event-triggered control with input saturation
کنترل رویداد مبتنی بر یادگیری تقویتی یکپارچه با اشباع ورودی-2020
In this paper, a novel integral reinforcement learning (IRL)-based event-triggered adaptive dynamic programming scheme is developed for input-saturated continuous-time nonlinear systems. By using the IRL technique, the learning system does not require the knowledge of the drift dynamics. Then, a single critic neural network is designed to approximate the unknown value function and its learning is not subjected to the requirement of an initial admissible control. In order to reduce computational and communication costs, the event-triggered control law is designed. The triggering threshold is given to guarantee the asymptotic stability of the control system. Two examples are employed in the simulation studies, and the results verify the effectiveness of the developed IRL-based event-triggered control method.
Keywords: Adaptive dynamic programming | Integral reinforcement learning | Neural networks | Event-triggered control | Input saturation
مقاله انگلیسی
2 Integral reinforcement learning-based online adaptive event-triggered control for non-zero-sum games of partially unknown nonlinear systems
یادگیری تقویتی یکپارچه مبتنی بر رویداد انطباقی انلاین برای بازی های غیر مجموع صفر از سیستم های غیر خطی ناشناخته جزیی-2020
This paper develops an integral reinforcement learning (IRL)-based adaptive control method for the multi- player non-zero-sum (NZS) games of the nonlinear continuous-time systems with partially unknown dy- namics, in the context of event-triggered mechanism. With the principle of IRL method, the requirement for the system drift dynamics is relaxed in the controller design. Moreover, different from the conven- tional iteration computation methods, the algorithm developed in this work is implemented in an online adaptive fashion, which provides a new way to combine the IRL algorithm and the event-triggered con- trol framework in solving the NZS game issues. In the event-based algorithm, a state-dependent trigger- ing condition is presented, which not only guarantees the closed-loop system stability, but also reduces the computation and communication loads of the controlled plant. By means of Lyapunov theorem, the uniform ultimate boundedness (UUB) properties of the system states and the critic weight estimation errors have been proved. Finally, two numerical examples are utilized to demonstrate the efficacy of the proposed method.
Keywords: Event-triggered control (ETC) | Integral reinforcement learning (IRL) | Adaptive dynamic programming (ADP) | Adaptive critic design | Non-zero-sum (NZS) games
مقاله انگلیسی
3 Event-triggered reinforcement learning control for the quadrotor UAV with actuator saturation
کنترل یادگیری تقویت کننده رویداد برای پهپاد کوادروتور با اشباع محرک-2020
This paper proposes an event-triggered reinforcement learning (RL) control strategy to stabilize the quadrotor unmanned aerial vehicle (UAV) with actuator saturation. As the quadrotor UAV equips with a complex dynamic is difficult to be model accurately, a model free reinforcement learning scheme is designed. Due to the practical limitation of actuators, the end of controller is constrained with a bounded function. In order to reduce the calculation consumption for the onboard computer, an event-triggered mechanism is developed, which only update the controller when the triggered condition is satisfied. The proposed controller is implemented with two neural networks which are called critic and actor. Some advanced RL technologies are utilized for speeding up the train process, e.g. off-policy training, experience replay, etc. The stability of closed-loop system is proved by the Lyapunov analysis. The simulation results including a stability task and a tracking task verify the theoretical analysis, in which we find the updating frequency of controller is decreased greatly.
Keywords: Quadrotor | UAV | Reinforcement learning | Flight control | Event-triggered control | Actuator saturation
مقاله انگلیسی
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