The Adaptive Dynamic Programming Toolbox

The paper develops the adaptive dynamic programming toolbox (ADPT), which is a MATLAB-based software package and computationally solves optimal control problems for continuous-time control-affine systems. The ADPT produces approximate optimal feedback controls by employing the adaptive dynamic progr...

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Vydáno v:Sensors (Basel, Switzerland) Ročník 21; číslo 16; s. 5609
Hlavní autoři: Xing, Xiaowei, Chang, Dong Eui
Médium: Journal Article
Jazyk:angličtina
Vydáno: Basel MDPI AG 20.08.2021
MDPI
Témata:
adaptive dynamic programming
Algorithms
Control theory
Dynamic programming
Knowledge
optimal control
software package
ISSN:1424-8220, 1424-8220
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Shrnutí:The paper develops the adaptive dynamic programming toolbox (ADPT), which is a MATLAB-based software package and computationally solves optimal control problems for continuous-time control-affine systems. The ADPT produces approximate optimal feedback controls by employing the adaptive dynamic programming technique and solving the Hamilton–Jacobi–Bellman equation approximately. A novel implementation method is derived to optimize the memory consumption by the ADPT throughout its execution. The ADPT supports two working modes: model-based mode and model-free mode. In the former mode, the ADPT computes optimal feedback controls provided the system dynamics. In the latter mode, optimal feedback controls are generated from the measurements of system trajectories, without the requirement of knowledge of the system model. Multiple setting options are provided in the ADPT, such that various customized circumstances can be accommodated. Compared to other popular software toolboxes for optimal control, the ADPT features computational precision and time efficiency, which is illustrated with its applications to a highly non-linear satellite attitude control problem.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s21165609