Adaptive Optimal Controller for Uncertain Inverted Pendulum System: A Dynamic Programming Approach for Continuous Time System

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Uncertain Inverted Pendulum System: A Dynamic Programming Approach for Continuous Time System</title> <meta name="description" content="Adaptive Optimal Controller for Uncertain Inverted Pendulum System: A Dynamic Programming Approach for Continuous Time System"> <meta name="keywords" content="approximate/adaptive dynamic programming, ADP, adaptive optimal control law, input state stability, ISS, inverted pendulum"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav 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class="card"> <div class="card-body"><strong>Paper Count:</strong> 87408</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">Adaptive Optimal Controller for Uncertain Inverted Pendulum System: A Dynamic Programming Approach for Continuous Time System</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Dao%20Phuong%20Nam">Dao Phuong Nam</a>, <a href="https://publications.waset.org/abstracts/search?q=Tran%20Van%20Tuyen"> Tran Van Tuyen</a>, <a href="https://publications.waset.org/abstracts/search?q=Do%20Trong%20Tan"> Do Trong Tan</a>, <a href="https://publications.waset.org/abstracts/search?q=Bui%20Minh%20Dinh"> Bui Minh Dinh</a>, <a href="https://publications.waset.org/abstracts/search?q=Nguyen%20Van%20Huong"> Nguyen Van Huong</a> </p> <p class="card-text"><strong>Abstract:</strong></p> In this paper, we investigate the adaptive optimal control law for continuous-time systems with input disturbances and unknown parameters. This paper extends previous works to obtain the robust control law of uncertain systems. Through theoretical analysis, an adaptive dynamic programming (ADP) based optimal control is proposed to stabilize the closed-loop system and ensure the convergence properties of proposed iterative algorithm. Moreover, the global asymptotic stability (GAS) for closed system is also analyzed. The theoretical analysis for continuous-time systems and simulation results demonstrate the performance of the proposed algorithm for an inverted pendulum system. <iframe src="https://publications.waset.org/abstracts/80356.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=approximate%2Fadaptive%20dynamic%20programming" title="approximate/adaptive dynamic programming">approximate/adaptive dynamic programming</a>, <a href="https://publications.waset.org/abstracts/search?q=ADP" title=" ADP"> ADP</a>, <a href="https://publications.waset.org/abstracts/search?q=adaptive%20optimal%20control%20law" title=" adaptive optimal control law"> adaptive optimal control law</a>, <a href="https://publications.waset.org/abstracts/search?q=input%20state%20stability" title=" input state stability"> input state stability</a>, <a href="https://publications.waset.org/abstracts/search?q=ISS" title=" ISS"> ISS</a>, <a href="https://publications.waset.org/abstracts/search?q=inverted%20pendulum" title=" inverted pendulum"> inverted pendulum</a> </p> <a href="https://publications.waset.org/abstracts/80356/adaptive-optimal-controller-for-uncertain-inverted-pendulum-system-a-dynamic-programming-approach-for-continuous-time-system" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/80356.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">194</span> </span> </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a 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Adaptive Optimal Controller for Uncertain Inverted Pendulum System: A Dynamic Programming Approach for Continuous Time System