This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying disturbances.The proposed control ...This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying disturbances.The proposed control algorithm integrates a filter-based design method with actor-critic learning architecture and disturbance observer to circumvent the unmodeled dynamic and the timevarying disturbance.To be specific,the actor network is employed to estimate the unknown system dynamic,the critic network is developed to evaluate the control performance,and the disturbance observer is leveraged to provide efficient estimation of the compounded disturbance which includes the time-varying disturbance and the actor-critic network approximation error.Consequently,highgain feedback is avoided and the improved tracking performance can be expected.Moreover,a composite weight adaptation law for actor network is constructed by utilizing two types of signals,the cost function and the modeling error.Eventually,theoretical analysis demonstrates that the developed controller can guarantee bounded stability.Extensive simulations and experiments on a robot manipulator are implemented to validate the performance of the resulted control strategy.展开更多
Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems （SOS） formalism for addressing the equity issue in multi-actor policymaking. In a SoS, th...Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems （SOS） formalism for addressing the equity issue in multi-actor policymaking. In a SoS, the control of the overall system performance is shared among a network of actors. In contrast to a single optimal solution that aggregates objectives of actors, the solution conCept of iso-performance is formulated and employed to illuminate multiple solutions and hence the ＇space＇ for actors to compromise. By specifically accounting for the equity issue, the level of sacrifice each actor makes for each iso-performance solution is computed. To demonstrate the approach, a case study is presented about policymaking to reduce fuel life cycle aviation emissions in the United States based on the year 2020 reduction target, involving government, airlines, jet fuel refinery companies, and aircraft and engine manufacturers. A resource allocation mixed integer programming model is employed to calculate carbon emissions resulting from airlines＇ deployment of aircraft fleet to meet changing air transport demand. The paper discusses three iso-performance solutions; each of them requires a different level of sacrifice from each actor. Such an insight can inform policymaking in determining the magnitude of compensation required when a particular solution is pursued.展开更多
基金supported by the National Key R&D Program of China(No.2021YFB2011300)the National Natural Science Foundation of China(No.52075262).
文摘This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying disturbances.The proposed control algorithm integrates a filter-based design method with actor-critic learning architecture and disturbance observer to circumvent the unmodeled dynamic and the timevarying disturbance.To be specific,the actor network is employed to estimate the unknown system dynamic,the critic network is developed to evaluate the control performance,and the disturbance observer is leveraged to provide efficient estimation of the compounded disturbance which includes the time-varying disturbance and the actor-critic network approximation error.Consequently,highgain feedback is avoided and the improved tracking performance can be expected.Moreover,a composite weight adaptation law for actor network is constructed by utilizing two types of signals,the cost function and the modeling error.Eventually,theoretical analysis demonstrates that the developed controller can guarantee bounded stability.Extensive simulations and experiments on a robot manipulator are implemented to validate the performance of the resulted control strategy.
基金supported through a Cooperative Agreement with the NASA Glenn Research Center (NNX07013A)
文摘Finding equitable policy solutions is critical for developing sustainable energy use. This paper presents a system-of-systems （SOS） formalism for addressing the equity issue in multi-actor policymaking. In a SoS, the control of the overall system performance is shared among a network of actors. In contrast to a single optimal solution that aggregates objectives of actors, the solution conCept of iso-performance is formulated and employed to illuminate multiple solutions and hence the ＇space＇ for actors to compromise. By specifically accounting for the equity issue, the level of sacrifice each actor makes for each iso-performance solution is computed. To demonstrate the approach, a case study is presented about policymaking to reduce fuel life cycle aviation emissions in the United States based on the year 2020 reduction target, involving government, airlines, jet fuel refinery companies, and aircraft and engine manufacturers. A resource allocation mixed integer programming model is employed to calculate carbon emissions resulting from airlines＇ deployment of aircraft fleet to meet changing air transport demand. The paper discusses three iso-performance solutions; each of them requires a different level of sacrifice from each actor. Such an insight can inform policymaking in determining the magnitude of compensation required when a particular solution is pursued.
