Doctoral Dissertations


Jie Ding


"Approximate dynamic programming formulation implemented with an Adaptive Critic (AC) based neural network (NN) structure has evolved as a powerful technique for solving the Hamilton-Jacobi-Bellman (HJB) equations. As interest in ADP and the AC solutions are escalating with time, there is a dire need to consider possible enabling factors for their implementations. A typical AC structure consists of two interacting NNs which is computationally expensive. In this work, a new architecture, called the "Cost Function Based Single Network Adaptive Critic (J-SNAC)" is presented that eliminates one of the networks in a typical AC structure. This approach is applicable to a wide class of nonlinear systems in engineering. In the first paper, two problems have been solved with the AC and the J-SNAC approaches. Results are presented that show savings of about 50% of the computational costs by J-SNAC while having the same accuracy levels of the dual network structure in solving for optimal control. In the second paper, the plant dynamics with parametric uncertainties or unmodeled nonlinearities has been considered. The author discusses the dynamic re-optimization of the J-SNAC controller that is used to capture the uncertainty but is not considered in the system model used for controller design. In the third paper, a non-quadratic cost function is used to incorporate control constraints. Necessary equations for optimal control are derived and an algorithm is presented to solve the constrained-control problem with J-SNAC. The fourth paper presents a new controller design technique for a class of nonlinear impulse driven systems"--Abstract, page iii.


Balakrishnan, S. N.

Committee Member(s)

Pernicka, Hank
Bristow, Douglas A.
Sarangapani, Jagannathan, 1965-
Dagli, Cihan H., 1949-


Mechanical and Aerospace Engineering

Degree Name

Ph. D. in Mechanical Engineering


United States. National Aeronautics and Space Administration
National Science Foundation (U.S.)


Missouri University of Science and Technology

Publication Date

Spring 2011

Journal article titles appearing in thesis/dissertation

  • Approximate dynamic programming solutions with a single network adaptive critic for a class of nonlinear systems
  • A single network approximate dynamic programming based optimal controller for nonlinear systems with uncertainties
  • A single network approximate dynamic programming based constrained optimal controller for nonlinear systems with uncertainties
  • A single network adaptive critic based optimal controller design for a class of impulsive systems


xv, 152 pages

Note about bibliography

Includes bibliographical references.


© 2011 Jie Ding, All rights reserved.

Document Type

Dissertation - Restricted Access

File Type




Subject Headings

Dynamic programming
Adaptive control systems -- Mathematical models
Nonlinear systems -- Mathematical models
Neural networks (Computer science)

Thesis Number

T 10228

Print OCLC #


Electronic OCLC #


Link to Catalog Record

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