Title
Stability Analysis for Incremental Adaptive Dynamic Programming with Approximation Errors
Author
Li, Y. (TU Delft Control & Simulation)
van Kampen, E. (TU Delft Control & Simulation) 
Date
2024
Abstract
This paper provides a convergence and stability analysis of the incremental value iteration algorithm under the influence of various errors. Incremental control is firstly used to linearize the continuous-time nonlinear system, recursive least squares (RLS) identification is then introduced to identify the incremental model online. Based on the incremental model, the value iteration algorithm is used to design an optimal adaptive controller, with an analytical optimal control law. Moreover, the convergence of the developed incremental value iteration algorithm is proved. The stability of the controller is analyzed using Lyapunov stability theory. Finally, a flight control simulation verifies the robustness of the controller to various initial conditions, as well as adaptation to actuator faults.
To reference this document use:
http://resolver.tudelft.nl/uuid:02eaf4bb-db40-473a-91f7-02fe3dd24a08
DOI
https://doi.org/10.1061/JAEEEZ.ASENG-5097
Embargo date
2024-05-06
ISSN
0893-1321
Source
Journal of Aerospace Engineering, 37 (1)
Bibliographical note
Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Part of collection
Institutional Repository
Document type
journal article
Rights
© 2024 Y. Li, E. van Kampen