TY - GEN
T1 - Direct heuristic dynamic programming with augmented states
AU - Sun, Jian
AU - Liu, Feng
AU - Si, Jennie
AU - Mei, Shengwei
PY - 2011
Y1 - 2011
N2 - This paper addresses a design issue of an approximate dynamic programming structure and its respective convergence property. Specifically, we propose to impose a PID structure to the action and critic networks in the direct heuristic dynamic programming (direct HDP) online learning controller. We demonstrate that the direct HDP with such PID augmented states improves convergence speed and that it out performs the traditional PID even though the learning controller may be initialized to be like a PID. Also for the first time, by using a Lyapnov approach we show that the action and critic network weights retain the property of uniformly ultimate boundedness (UUB) under mild conditions.
AB - This paper addresses a design issue of an approximate dynamic programming structure and its respective convergence property. Specifically, we propose to impose a PID structure to the action and critic networks in the direct heuristic dynamic programming (direct HDP) online learning controller. We demonstrate that the direct HDP with such PID augmented states improves convergence speed and that it out performs the traditional PID even though the learning controller may be initialized to be like a PID. Also for the first time, by using a Lyapnov approach we show that the action and critic network weights retain the property of uniformly ultimate boundedness (UUB) under mild conditions.
KW - Approximate Dynamic Programming (ADP)
KW - Direct Heuristic Dynamic Programming (direct HDP)
KW - Feedforward Neural Network with Augmented states (AFNN)
UR - http://www.scopus.com/inward/record.url?scp=80054769521&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80054769521&partnerID=8YFLogxK
U2 - 10.1109/IJCNN.2011.6033633
DO - 10.1109/IJCNN.2011.6033633
M3 - Conference contribution
AN - SCOPUS:80054769521
SN - 9781457710865
T3 - Proceedings of the International Joint Conference on Neural Networks
SP - 3112
EP - 3119
BT - 2011 International Joint Conference on Neural Networks, IJCNN 2011 - Final Program
T2 - 2011 International Joint Conference on Neural Network, IJCNN 2011
Y2 - 31 July 2011 through 5 August 2011
ER -