Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems

Huaiyuan Jiang; Xuefei Yang; Chuanchuan Xu; Kangkang Zhang

doi:10.1109/FASTA61401.2024.10595149

Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems

Huaiyuan Jiang^*
, Xuefei Yang
, Chuanchuan Xu
, Kangkang Zhang

^*Corresponding author for this work

School of Astronautics

Nanjing Research Institute of Electronic Engineering
The University of Hong Kong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, the bias-policy iteration based optimal control of fully actuated systems is further reconsidered. With the help of the fully actuated property, a more neat bias-PI method for the fully actuated cases is established with the convergence proof. The data-driven implementation for the proposed algorithm is introduced accordingly. A numerical example verifies the effectiveness of the proposed results.

Original language	English
Title of host publication	Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1140-1145
Number of pages	6
ISBN (Electronic)	9798350373691
DOIs	https://doi.org/10.1109/FASTA61401.2024.10595149
State	Published - 2024
Event	3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024 - Shenzhen, China Duration: 10 May 2024 → 12 May 2024

Publication series

Name	Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

Conference

Conference	3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
Country/Territory	China
City	Shenzhen
Period	10/05/24 → 12/05/24

Keywords

Adaptive dynamic programming
Bias-policy iteration
Data driven control
Fully actuated systems

Access to Document

10.1109/FASTA61401.2024.10595149

Cite this

Jiang, H., Yang, X., Xu, C., & Zhang, K. (2024). Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems. In Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024 (pp. 1140-1145). (Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FASTA61401.2024.10595149

Jiang, Huaiyuan ; Yang, Xuefei ; Xu, Chuanchuan et al. / Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems. Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. pp. 1140-1145 (Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024).

@inproceedings{02d7d66d3074429ea3515b4ad0256a26,

title = "Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems",

abstract = "In this paper, the bias-policy iteration based optimal control of fully actuated systems is further reconsidered. With the help of the fully actuated property, a more neat bias-PI method for the fully actuated cases is established with the convergence proof. The data-driven implementation for the proposed algorithm is introduced accordingly. A numerical example verifies the effectiveness of the proposed results.",

keywords = "Adaptive dynamic programming, Bias-policy iteration, Data driven control, Fully actuated systems",

author = "Huaiyuan Jiang and Xuefei Yang and Chuanchuan Xu and Kangkang Zhang",

note = "Publisher Copyright: {\textcopyright} 2024 IEEE.; 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024 ; Conference date: 10-05-2024 Through 12-05-2024",

year = "2024",

doi = "10.1109/FASTA61401.2024.10595149",

language = "英语",

series = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1140--1145",

booktitle = "Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024",

address = "美国",

}

Jiang, H , Yang, X, Xu, C & Zhang, K 2024, Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems. in Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024. Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024, Institute of Electrical and Electronics Engineers Inc., pp. 1140-1145, 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024, Shenzhen, China, 10/05/24. https://doi.org/10.1109/FASTA61401.2024.10595149

Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems. / Jiang, Huaiyuan ; Yang, Xuefei; Xu, Chuanchuan et al.
Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024. Institute of Electrical and Electronics Engineers Inc., 2024. p. 1140-1145 (Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems

AU - Jiang, Huaiyuan

AU - Yang, Xuefei

AU - Xu, Chuanchuan

AU - Zhang, Kangkang

PY - 2024

Y1 - 2024

N2 - In this paper, the bias-policy iteration based optimal control of fully actuated systems is further reconsidered. With the help of the fully actuated property, a more neat bias-PI method for the fully actuated cases is established with the convergence proof. The data-driven implementation for the proposed algorithm is introduced accordingly. A numerical example verifies the effectiveness of the proposed results.

AB - In this paper, the bias-policy iteration based optimal control of fully actuated systems is further reconsidered. With the help of the fully actuated property, a more neat bias-PI method for the fully actuated cases is established with the convergence proof. The data-driven implementation for the proposed algorithm is introduced accordingly. A numerical example verifies the effectiveness of the proposed results.

KW - Adaptive dynamic programming

KW - Bias-policy iteration

KW - Data driven control

KW - Fully actuated systems

UR - https://www.scopus.com/pages/publications/85200594236

U2 - 10.1109/FASTA61401.2024.10595149

DO - 10.1109/FASTA61401.2024.10595149

M3 - 会议稿件

AN - SCOPUS:85200594236

T3 - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

SP - 1140

EP - 1145

BT - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024

Y2 - 10 May 2024 through 12 May 2024

ER -

Jiang H , Yang X, Xu C, Zhang K. Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems. In Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024. Institute of Electrical and Electronics Engineers Inc. 2024. p. 1140-1145. (Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024). doi: 10.1109/FASTA61401.2024.10595149

Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems

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