{"id":"https://openalex.org/W4323897042","doi":"https://doi.org/10.1109/tiv.2023.3255264","title":"Relaxed Actor-Critic With Convergence Guarantees for Continuous-Time Optimal Control of Nonlinear Systems","display_name":"Relaxed Actor-Critic With Convergence Guarantees for Continuous-Time Optimal Control of Nonlinear Systems","publication_year":2023,"publication_date":"2023-03-10","ids":{"openalex":"https://openalex.org/W4323897042","doi":"https://doi.org/10.1109/tiv.2023.3255264"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2023.3255264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3255264","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.05402","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067909017","display_name":"Jingliang Duan","orcid":"https://orcid.org/0000-0002-3697-1576"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingliang Duan","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3697-1576","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]},{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100696317","display_name":"Jie Li","orcid":"https://orcid.org/0000-0002-3718-5593"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3718-5593","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077555972","display_name":"Qiang Ge","orcid":"https://orcid.org/0000-0002-4913-9455"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Ge","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4913-9455","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025118945","display_name":"Monimoy Bujarbaruah","orcid":"https://orcid.org/0000-0003-0639-1025"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Monimoy Bujarbaruah","raw_affiliation_strings":["Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0639-1025","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062318925","display_name":"Fei Ma","orcid":"https://orcid.org/0000-0001-6099-480X"},"institutions":[{"id":"https://openalex.org/I92403157","display_name":"University of Science and Technology Beijing","ror":"https://ror.org/02egmk993","country_code":"CN","type":"education","lineage":["https://openalex.org/I92403157"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Ma","raw_affiliation_strings":["School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, China","institution_ids":["https://openalex.org/I92403157"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087838876","display_name":"Dezhao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dezhao Zhang","raw_affiliation_strings":["Beijing Idriverplus Technology Co., Ltd., Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Idriverplus Technology Co., Ltd., Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5067909017"],"corresponding_institution_ids":["https://openalex.org/I92403157","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":6.9832,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.9751726,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"5","first_page":"3299","last_page":"3311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9814000129699707,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6580699682235718},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6191933751106262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6144342422485352},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.604667067527771},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5082046985626221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.503100574016571},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4779819846153259},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4395582377910614},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4281444549560547},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4132928252220154},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3833763599395752},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31270480155944824}],"concepts":[{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6580699682235718},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6191933751106262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6144342422485352},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.604667067527771},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5082046985626221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.503100574016571},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4779819846153259},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4395582377910614},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4281444549560547},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4132928252220154},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3833763599395752},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31270480155944824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2023.3255264","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2023.3255264","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.05402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05402","pdf_url":"https://arxiv.org/pdf/1909.05402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.05402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.05402","pdf_url":"https://arxiv.org/pdf/1909.05402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1592601589","https://openalex.org/W1891098503","https://openalex.org/W1966397236","https://openalex.org/W1983523797","https://openalex.org/W2027197837","https://openalex.org/W2037539475","https://openalex.org/W2037751122","https://openalex.org/W2047090868","https://openalex.org/W2050838777","https://openalex.org/W2066856775","https://openalex.org/W2069376703","https://openalex.org/W2073591687","https://openalex.org/W2091130426","https://openalex.org/W2108286682","https://openalex.org/W2108383324","https://openalex.org/W2123871098","https://openalex.org/W2161130209","https://openalex.org/W2188644438","https://openalex.org/W2484646121","https://openalex.org/W2509783950","https://openalex.org/W2521921275","https://openalex.org/W2570494446","https://openalex.org/W2606378794","https://openalex.org/W2740355521","https://openalex.org/W2793996673","https://openalex.org/W2894802051","https://openalex.org/W2899748887","https://openalex.org/W2899790086","https://openalex.org/W2901363724","https://openalex.org/W2919115771","https://openalex.org/W2940751180","https://openalex.org/W2947981406","https://openalex.org/W2963437711","https://openalex.org/W2981402159","https://openalex.org/W3002044607","https://openalex.org/W3015082424","https://openalex.org/W3047221759","https://openalex.org/W3052769120","https://openalex.org/W3097662863","https://openalex.org/W3103456419","https://openalex.org/W3173586751","https://openalex.org/W3193283090","https://openalex.org/W3209549283","https://openalex.org/W4200500895","https://openalex.org/W4214717370","https://openalex.org/W4224295330","https://openalex.org/W4225773298","https://openalex.org/W4229057997","https://openalex.org/W4313017681","https://openalex.org/W4362650413","https://openalex.org/W6667841147","https://openalex.org/W6756001544","https://openalex.org/W6799835771"],"related_works":["https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W2379312070","https://openalex.org/W2136173754","https://openalex.org/W2110050003","https://openalex.org/W2953025626","https://openalex.org/W2499081552","https://openalex.org/W2366053282","https://openalex.org/W1653644965","https://openalex.org/W2128788708"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,13,30,52,55,59,110,113,119,125,137],"Relaxed":[4],"Continuous-Time":[5],"Actor-critic":[6],"(RCTAC)":[7],"algorithm,":[8],"a":[9,84,89,97,101],"method":[10],"for":[11,17,45,65,83,129],"finding":[12],"nearly":[14,80],"optimal":[15,81],"policy":[16,57,82,103,121],"nonlinear":[18,86],"continuous-time":[19],"(CT)":[20],"systems":[21,64],"with":[22,88],"known":[23],"dynamics":[24],"and":[25,78,100,134,144,151],"infinite":[26],"horizon,":[27],"such":[28],"as":[29],"path-tracking":[31,153],"control":[32],"of":[33,54,62,94,112,136],"vehicles.":[34],"RCTAC":[35,72,92],"has":[36],"several":[37],"advantages":[38],"over":[39],"existing":[40],"adaptive":[41],"dynamic":[42],"programming":[43],"algorithms":[44],"CT":[46],"systems.":[47],"It":[48],"does":[49],"not":[50],"require":[51],"\u201cadmissibility\u201d":[53],"initialized":[56],"or":[58],"input-affine":[60],"nature":[61],"controlled":[63],"convergence.":[66,131],"Instead,":[67],"given":[68],"any":[69],"initial":[70],"policy,":[71],"can":[73],"converge":[74],"to":[75,115],"an":[76],"admissible,":[77],"subsequently":[79],"general":[85],"system":[87],"saturated":[90],"controller.":[91],"consists":[93],"two":[95],"phases:":[96],"warm-up":[98,107],"phase":[99,108,123],"generalized":[102,120],"iteration":[104,122],"phase.":[105],"The":[106,132],"minimizes":[109],"square":[111],"Hamiltonian":[114],"achieve":[116],"admissibility,":[117],"while":[118],"relaxes":[124],"update":[126],"termination":[127],"conditions":[128],"faster":[130],"convergence":[133],"optimality":[135],"algorithm":[138],"are":[139],"proven":[140],"through":[141,149],"Lyapunov":[142],"analysis,":[143],"its":[145],"effectiveness":[146],"is":[147],"demonstrated":[148],"simulations":[150],"real-world":[152],"tasks.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}