A Hybrid-Adaptive Dynamic Programming Approach for the Model-Free Control of Nonlinear Switched Systems

作者：Lu Wenjie; Zhu Pingping; Ferrari Silvia^*

来源：IEEE Transactions on Automatic Control, 2016, 61(10): 3203-3208.

DOI：10.1109/TAC.2015.2509421

• Adaptive dynamic programming
• hybrid systems
• learning
• model-free control
• switched systems

This paper presents a hybrid adaptive dynamic programming (hybrid-ADP) approach for determining the optimal continuous and discrete control laws of a switched system online, solely from state observations. The new hybrid-ADP recurrence relationships presented are applicable to model-free control of switched hybrid systems that are possibly nonlinear. The computational complexity and convergence of the hybrid-ADP approach are analyzed, and the method is validated numerically showing that the optimal controller and value function can be learned iteratively online from state observations.

• 出版日期2016-10