Excitation for Adaptive Optimal Control of Nonlinear Systems in Differential Games
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Publication:6137548
DOI10.1109/TAC.2022.3145651arXiv2105.02260OpenAlexW4225661228MaRDI QIDQ6137548FDOQ6137548
Sören Hohmann, Author name not available (Why is that?), Author name not available (Why is that?), Florian Köpf
Publication date: 4 September 2023
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: This work focuses on the fulfillment of the Persistent Excitation (PE) condition for signals which result from transformations by means of polynomials. This is essential e.g. for the convergence of Adaptive Dynamic Programming algorithms due to commonly used polynomial function approximators. As theoretical statements are scarce regarding the nonlinear transformation of PE signals, we propose conditions on the system state such that its transformation by polynomials is PE. To validate our theoretical statements, we develop an exemplary excitation procedure based on our conditions using a feedforward control approach and demonstrate the effectiveness of our method in a nonzero-sum differential game. In this setting, our approach outperforms commonly used probing noise in terms of convergence time and the degree of PE, shown by a numerical example.
Full work available at URL: https://arxiv.org/abs/2105.02260
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