Adaptive dynamic programming (ADP), as an important optimal control technique, can be exploited in the setting of data-driven control based on an approximate regression-based solution of the Hamilton–Jacobi–Bellman (HJB) equations. Distributed optimization algorithms, which are extensively studied in statistics and machine learning, have not yet been applied to the solution of data-driven ADP problems. In this work, we identify the data-driven ADP problem as a consensus optimization problem for nonlinear affine systems, and apply the alternating direction method of multipliers (ADMM) and its accelerated variants for its solution. For the input-constrained optimal control problem, we define a combined optimal primal–dual function to develop a data-based version of the input-constrained HJB equation.
Bibliographical noteFunding Information:
This work was supported by National Science Foundation, USA (NSF-CBET).
© 2018 Elsevier B.V.
Copyright 2018 Elsevier B.V., All rights reserved.
- Adaptive dynamic programming
- Data-driven control
- Distributed optimization
- Process control