Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5000155 | Automatica | 2016 | 12 Pages |
Abstract
An infinite horizon optimal regulation problem is solved online for a deterministic control-affine nonlinear dynamical system using a state following (StaF) kernel method to approximate the value function. Unlike traditional methods that aim to approximate a function over a large compact set, the StaF kernel method aims to approximate a function in a small neighborhood of a state that travels within a compact set. Simulation results demonstrate that stability and approximate optimality of the control system can be achieved with significantly fewer basis functions than may be required for global approximation methods.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Rushikesh Kamalapurkar, Joel A. Rosenfeld, Warren E. Dixon,