Bias-Policy Iteration Based Adaptive Dynamic Programming for Linear Fully Actuated Systems

In this paper, the bias-policy iteration based optimal control of fully actuated systems is further reconsidered. With the help of the fully actuated property, a more neat bias-PI method for the fully actuated cases is established with the convergence proof. The data-driven implementation for the proposed algorithm is introduced accordingly. A numerical example verifies the effectiveness of the proposed results.