Adaptive dynamic programming for infinite horizon optimal robust guaranteed cost control of a class of uncertain nonlinear systems
Ding Wang, Derong Liu, Hongliang Li, Hongwen Ma · 2015
In this paper, an infinite horizon optimal robust guaranteed cost control scheme of a class of continuous-time uncertain nonlinear systems is established based on adaptive dynamic programming. The main idea lies in that the optimal robust guaranteed cost control problem can be transformed into an optimal control problem. Actually, the optimal cost function of the nominal system is nothing but the optimal guaranteed cost of the original uncertain system. A critic neural network is constructed to help solving the modified Hamilton-Jacobi-Bellman equation corresponding to the nominal system. Then, an additional stabilizing term is introduced to reinforce the updating process of the weight vector and reduce the requirement of an initial stabilizing control. An example is provided to illustrate the effectiveness of the present control approach.