强化学习
标识符
计算机科学
非线性系统
控制(管理)
跟踪(教育)
人工智能
控制理论(社会学)
心理学
计算机网络
教育学
物理
量子力学
作者
Jing Wang,Wei Zhao,Jinde Cao,Ju H. Park,Hao Shen
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:: 1-13
标识
DOI:10.1109/tcyb.2024.3431670
摘要
A novel reinforcement learning-based predefined-time tracking control scheme with prescribed performance is presented in this article for nonlinear systems in the presence of external disturbances. First, by employing the backstepping strategy, an adaptive optimized controller is developed under the identifier-critic-actor framework. Therein, the unknown nonlinear dynamics and the system control behavior can be learned effectively through neural networks. Moreover, aiming at obtaining the preset tracking performance, the prescribed performance control is integrated with the predefined-time control. In contrast to previous studies, the proposed scheme can not only constrain the tracking error rapidly to a prearranged vicinity of origin, but also ensure that the upper bound of convergence time can be adjusted in advance via a separate control parameter. In terms of the predefined-time stability theory, the boundedness of all system states can be proven within a predefined time. Finally, the availability and improved performances of the proposed control scheme are demonstrated by a numerical example and a single-link manipulator example.
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