Model-Free H∞ Optimal Tracking Control of Constrained Nonlinear Systems via an Iterative Adaptive Learning Algorithm
Jiaxu Hou, Ding Wang, Derong Liu, Yun Zhang · IEEE Transactions on Systems Man and Cybernetics Systems · 2018
In this paper, an H∞optimal tracking controller for completely unknown discrete-time nonlinear systems with control constraints is obtained by using an iterative adaptive learning algorithm. An augmented system is established by integrating the tracking error system and the reference trajectory. As an identifier of the unknown systems, a neural network (NN) is introduced with asymptotic stability of the estimation error. An action-disturbance-critic NN structure is proposed to implement the iterative dual heuristic programming algorithm with convergence guarantee of the costate function and the control policy. Simulation results and comparisons are provided to illustrate the superior performance of the designed optimal tracking controller.