Optimal self-triggering for nonlinear systems via approximate dynamic programming (CROSBI ID 608702)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Tolić, Domagoj ; Fierro, Rafael ; Ferrari, Silvia
engleski
Optimal self-triggering for nonlinear systems via approximate dynamic programming
In this paper we investigate optimal intermittent feedback for nonlinear control systems. Using the currently available measurements from a plant, we develop a methodology that outputs when to update the controller with new measurements such that a given cost function is minimized. Our cost function captures trade-offs between the performance and energy consumption of the control system. The optimization problem is formulated as a Dynamic Programming problem, and Approximate Dynamic Programming is employed to solve it. Instead of advocating a particular approximation architecture for Approximate Dynamic Programming, we formulate properties that successful approximation architectures satisfy. In addition, we consider problems with partially observable states, and propose Particle Filtering to deal with partially observable states and intermittent feedback. Finally, our approach is applied to a mobile robot trajectory tracking problem.
approximate dynamic programming; nonlinear systems; optimal control
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
879-884.
2012.
objavljeno
Podaci o matičnoj publikaciji
Proc. of 2012 IEEE Multi-conference on Systems and Control
Podaci o skupu
2012 IEEE Multi-Conference on Systems and Control
predavanje
03.10.2012-05.10.2012
Dubrovnik, Hrvatska