Optimal Adaptive Tracking Control of Partially Uncertain Nonlinear Discrete-Time Systems Using Lifelong Hybrid Learning
Behzad Farzanegan, Rohollah Moghadam, S. Jagannathan, N. Pappa
Abstract
This article addresses a multilayer neural network (MNN)-based optimal adaptive tracking of partially uncertain nonlinear discrete-time (DT) systems in affine form. By employing an actor-critic neural network (NN) to approximate the value function and optimal control policy, the critic NN is updated via a novel hybrid learning scheme, where its weights are adjusted once at a sampling instant and also in a finite iterative manner within the instants to enhance the convergence rate. Moreover, to deal with the persistency of excitation (PE) condition, a replay buffer is incorporated into the critic update law through concurrent learning. To address the vanishing gradient issue, the actor and critic MNN weights are tuned using control input and temporal difference errors (TDEs), respectively. In addition, a weight consolidation scheme is incorporated into the critic MNN update law to attain lifelong learning and overcome catastrophic forgetting, thus lowering the cumulative cost. The tracking error, and the actor and critic weight estimation errors are shown to be bounded using the Lyapunov analysis. Simulation results using the proposed approach on a two-link robot manipulator show a significant reduction in tracking error by 44% and cumulative cost by 31% in a multitask environment.