Adaptive Optimal Tracking Control of Unknown Nonlinear Systems Using System Augmentation

Yongfeng Lv, Jing Na, Qinmin Yang, Guido Herrmann

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

7 Citations (Scopus)
269 Downloads (Pure)

Abstract

In this paper, an alternative solution for adaptive optimal tracking control of nonlinear completely unknown systems is proposed. Firstly, an adaptive identifier is used to estimate the unknown system dynamics. Then, a recently developed system augmentation approach is adopted to design the optimal control, where the reference signal is incorporated into the augmented system. Thus, both the feedforward control and feedback control can be obtained simultaneously. Then, a critic neural network (NN) is used to estimate the augmented performance index, and calculate the optimal control action. Thus, the widely used actor NN is not needed. Finally, a new adaptive law recently proposed by the authors is used to online update the NN weight. The closed-loop stability and the convergence of the optimal control are all proved. The feasibility of the suggested approach is demonstrated by a simulation example.
Original languageEnglish
Title of host publication2016 International Joint Conference on Neural Networks (IJCNN 2016)
Subtitle of host publicationProceedings of a meeting held 24-27 July 2016, Vancouver, Canada
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages3516-3521
Number of pages6
ISBN (Electronic)9781509006205
ISBN (Print)9781509006212
DOIs
Publication statusPublished - Feb 2017
Event2016 IEEE International Joint Conference on Neural Networks (IJCNN) - Vancouver, Canada
Duration: 24 Jul 201629 Jul 2016

Publication series

NameProceedings of the International Joint Conference on Neural Networks (IJCNN)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)2161-4407

Conference

Conference2016 IEEE International Joint Conference on Neural Networks (IJCNN)
CountryCanada
CityVancouver
Period24/07/1629/07/16

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