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To synthesize fixed-final-time control-constrained optimal controllers for discrete-time nonlinear control-affine systems, a single neural network (NN)-based controller called the Finite-horizon Single Network Adaptive Critic is developed in this paper. Inputs to the NN are the current system states and the time-to-go, and the network outputs are the… (More)

A model-based reinforcement learning algorithm is developed in this paper for fixed-final-time optimal control of nonlinear systems with soft and hard terminal constraints. Convergence of the algorithm, for linear in the weights neural networks, is proved through a novel idea by showing that the training algorithm is a contraction mapping. Once trained, the… (More)

- Eitan Frachtenberg, Ali Heydari, Harry Li, Amir Michael, Jacob Na, Avery Nisbet +1 other
- SC
- 2011

Large-scale data centers consume megawatts in power and cost hundreds of millions of dollars to equip. Reducing the energy and cost footprint of servers can therefore have substantial impact. Web, Grid, and cloud servers in particular can be hard to optimize, since they are expected to operate under a wide range of workloads. For our upcoming data center,… (More)

Value iteration-based approximate/adaptive dynamic programming (ADP) as an approximate solution to infinite-horizon optimal control problems with deterministic dynamics and continuous state and action spaces is investigated. The learning iterations are decomposed into an outer loop and an inner loop. A relatively simple proof for the convergence of the… (More)

—The problem of decentralized control of multi-agent nonlinear systems is solved by introducing the concept of virtual agents to generate reference trajectories to be tracked by the actual agents. The tracking problem as an optimal control problem is formulated in the framework of approximate dynamic programming. Solutions are obtained using 'single network… (More)

Formation control of network of multi-agent systems with heterogeneous nonlinear dynamics is formulated as an optimal tracking problem and a decentralized controller is developed using the framework of 'adaptive critics' to solve the optimal control problem. The reference signal is assumed available only in online implementation so its dynamics is… (More)

5.1 Abstract Solving infinite time optimal control problems in an approximate dynamic programming framework with two network structure has become popular in recent years. In this chapter, an alternative to the two network structure is provided. We develop single