论文标题
适用于大型球板系统的自适应最佳轨迹跟踪控制
Adaptive Optimal Trajectory Tracking Control Applied to a Large-Scale Ball-on-Plate System
论文作者
论文摘要
尽管已经提出了许多有关自适应动态编程（ADP）的理论工作，但申请结果很少。因此，我们设计了一个基于ADP的最佳轨迹跟踪控制器，并将其应用于大型球板系统。我们提出的方法结合了一个近似的参考轨迹，而不是使用设定点跟踪，并允许自动补偿恒定的偏移项。由于该算法的非政策特征，该方法仅需要少量测量数据来训练控制器。我们的实验结果表明，与设定点控制器相比，这种跟踪机制大大降低了控制成本。此外，与基于模型的最佳控制器的比较突出了我们基于无数据的ADP跟踪控制器的好处，在该控制器中不需要系统模型和手动调整，但是使用测量的数据会自动调整控制器。
While many theoretical works concerning Adaptive Dynamic Programming (ADP) have been proposed, application results are scarce. Therefore, we design an ADP-based optimal trajectory tracking controller and apply it to a large-scale ball-on-plate system. Our proposed method incorporates an approximated reference trajectory instead of using setpoint tracking and allows to automatically compensate for constant offset terms. Due to the off-policy characteristics of the algorithm, the method requires only a small amount of measured data to train the controller. Our experimental results show that this tracking mechanism significantly reduces the control cost compared to setpoint controllers. Furthermore, a comparison with a model-based optimal controller highlights the benefits of our model-free data-based ADP tracking controller, where no system model and manual tuning are required but the controller is tuned automatically using measured data.
