Data-Based Optimal Control for Weakly Coupled Nonlinear Systems Using Policy Iteration
Chao Li, Derong Liu, Ding Wang · IEEE Transactions on Systems Man and Cybernetics Systems · 2016
In this paper, a data-based online learning algorithm is established to solve the optimal control problem for weakly coupled continuous-time nonlinear systems with completely unknown dynamics. Using the weak coupling theory, we reformulate the original problem into three reduced-order optimal control problems. We establish an online model-free integral policy iteration algorithm to solve the decoupled optimal control problems without system dynamics. To implement the data-based online learning algorithm, the actor-critic technique based on neural networks and the least squares method are used. Two simulation examples are given to verify the effectiveness of the developed algorithm.