Discrete‐Time Optimal Control of State‐Constrained Nonlinear Systems Using Approximate Dynamic Programming
Shijie Song,
Dawei Gong,
Minglei Zhu
et al.
Abstract:This article investigates the optimal control problem (OCP) for a class of discrete‐time nonlinear systems with state constraints. First, to overcome the challenge caused by the constraints, the original constrained OCP is transformed into an unconstrained OCP by utilizing the system transformation technique. Second, a new cost function is designed to alleviate the effect of system transformation on the optimality of the original system. Further, a novel off‐policy deterministic approximate dynamic programming… Show more
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