The Adaptive Dynamic Programming Toolbox

TL;DR

The paper introduces the Adaptive Dynamic Programming Toolbox (ADPT), a versatile software tool for solving optimal control problems in nonlinear systems using adaptive dynamic programming, with both model-based and model-free modes.

Contribution

The ADPT provides a flexible, high-precision toolbox for optimal control that can operate with or without explicit system models, enhancing computational efficiency and applicability.

Findings

Demonstrated high accuracy and speed in satellite attitude control applications.

Supports both model-based and model-free control strategies.

Offers customizable options for various control scenarios.

Abstract

The paper develops the Adaptive Dynamic Programming Toolbox (ADPT), which solves optimal control problems for continuous-time nonlinear systems. Based on the adaptive dynamic programming technique, the ADPT computes optimal feedback controls from the system dynamics in the model-based working mode, or from measurements of trajectories of the system in the model-free working mode without the requirement of knowledge of the system model. Multiple options are provided such that the ADPT can accommodate various customized circumstances. Compared to other popular software toolboxes for optimal control, the ADPT enjoys its computational precision and speed, which is illustrated with its applications to a satellite attitude control problem.