Aimed at solving the optimal control problem for nonlinear systems with unsymmetrical input constraints, we present an online adaptive approach for partially unknown control systems/dynamics. The designed algorithm converges online to the optimal control solution without the knowledge of the internal system dynamics. The optimality of the obtained control policy and the stability for the closed-loop dynamic optimality are proved theoretically. The proposed method greatly relaxes the assumption on the form of the internal dynamics and input constraints in previous works. Besides, the control design framework proposed in this paper offers a new approach to solve the optimal circumnavigation problem involving a moving target for a fixed-wing unmanned aerial vehicle (UAV). The control performance of our method is compared with that of the existing circumnavigation control law in a numerical simulation and the simulation results validate the effectiveness of our algorithm. Abstract from v1.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Optimal control of nonlinear partially-unknown systems with unsymmetrical input constraints and its applications to the optimal UAV circumnavigation problem


    Beteiligte:
    Yu, Yangguang (Autor:in) / Wang, Xiangke (Autor:in) / Sun, Zhiyong (Autor:in) / Shen, Lincheng (Autor:in)

    Erscheinungsdatum :

    2020-05-27


    Anmerkungen:

    Yu , Y , Wang , X , Sun , Z & Shen , L 2020 , ' Optimal control of nonlinear partially-unknown systems with unsymmetrical input constraints and its applications to the optimal UAV circumnavigation problem ' , arXiv , vol. 2020 , 2005.13335 . < https://arxiv.org/abs/2005.13335 >


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Schlagwörter :

    Klassifikation :

    DDC:    629




    Adaptive Optimal Control of Partially-unknown Constrained-input Systems using Policy Iteration with Experience Replay

    Modares, Hamidreza / Lewis, Frank / Naghibi-Siastani, Mohammad-Bagher et al. | AIAA | 2013


    A Decentralized Optimal Control Law for Multi-circular Circumnavigation around a Stationary Target

    Pradhan, Prateek Priyaranjan / Sen, Arijit / Kothari, Mangal et al. | AIAA | 2024


    Target Tracking With Circumnavigation Scheme Using Discrete Bearing and Control Input

    Wang, Dongzhen / Zhang, Zhenghua / Zhao, Yu et al. | IEEE | 2024


    Optimal Plug-and-Control of Unknown Nonlinear Systems

    Adelberger, Daniel / Giarré, Laura / Ohtsuka, Toshiyuki et al. | BASE | 2022

    Freier Zugriff