Title

Policy iteration for optimal control of weakly coupled nonlinear systems with completely unknown dynamics

Document Type

Conference Proceeding

Date of Original Version

7-28-2016

Abstract

In this paper, an online learning algorithm based on policy iteration is established to solve the optimal control problem for weakly coupled nonlinear continuous-time systems. Using the weak coupling theory, the original problem is transformed into three reduced-order optimal control problems. To obtain the optimal control laws without system dynamics, we construct an online data-based integral policy iteration algorithm which is used to solve the decoupled optimal control problems. The actor-critic technique based on neural networks and the least squares method are used to implement the model-free learning algorithm. A simulation example is given to verify the applicability of the developed algorithm.

Publication Title

Proceedings of the American Control Conference

Volume

2016-July

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