Zero-Sum Differential Games for Nonlinear Systems Using Adaptive Dynamic Programming with Input Constraint
作者单位：College of Automation EngineeringNanjing University of Aeronautics and Astronautics
会议名称：《第36届中国控制会议》
会议届次：36
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化]
基 金：supported by National Natural Science Foundation of China under Grant 61473147 Funding of Jiangsu Innovation Program for Graduated Education under Grant KYLX16_0376 Funding for Outstanding Doctoral Dissertation in NUAA under Grant BCXJ16-02
关 键 词：differential game adaptive dynamic programming asymptotically stability input constraints
摘 要：In this paper, the zero-sum differential game problem for a class of nonlinear system with input constraints is investigated via adaptive dynamic programming（ADP）. A suitable non-quadratic functional is utilized to embed the control constraints into the differential game problem. Then, the Nash equilibrium solution is found by solving the constrained Hamilton-Jacobi-Isaacs（HJI） equation. The single critic network is constructed to approximate the solution of associated HJI equation online. A robustifying control term is added to the controller to eliminate the effect of residual error, leading to the asymptotically stability of the closed-loop system. Simulation results verify the effectiveness of proposed method by using a simple nonlinear system.