Print Email Facebook Twitter Stability Analysis for Incremental Adaptive Dynamic Programming with Approximation Errors Title Stability Analysis for Incremental Adaptive Dynamic Programming with Approximation Errors Author Li, Y. (TU Delft Control & Simulation) van Kampen, E. (TU Delft Control & Simulation) Date 2024 Abstract This paper provides a convergence and stability analysis of the incremental value iteration algorithm under the influence of various errors. Incremental control is firstly used to linearize the continuous-time nonlinear system, recursive least squares (RLS) identification is then introduced to identify the incremental model online. Based on the incremental model, the value iteration algorithm is used to design an optimal adaptive controller, with an analytical optimal control law. Moreover, the convergence of the developed incremental value iteration algorithm is proved. The stability of the controller is analyzed using Lyapunov stability theory. Finally, a flight control simulation verifies the robustness of the controller to various initial conditions, as well as adaptation to actuator faults. To reference this document use: http://resolver.tudelft.nl/uuid:02eaf4bb-db40-473a-91f7-02fe3dd24a08 DOI https://doi.org/10.1061/JAEEEZ.ASENG-5097 Embargo date 2024-05-06 ISSN 0893-1321 Source Journal of Aerospace Engineering, 37 (1) Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2024 Y. Li, E. van Kampen Files PDF li_van_kampen_2023_stabil ... errors.pdf 2.55 MB Close viewer /islandora/object/uuid:02eaf4bb-db40-473a-91f7-02fe3dd24a08/datastream/OBJ/view