Abstract
A novel approach is proposed for multi-input multi-output (MIMO) optimal adaptive control of nonlinear continuous-time systems in strict feedback form with uncertain internal dynamics. First, it is shown that the optimal adaptive tracking problem of strict feedback systems can be reduced to an optimal regulation problem of affine nonlinear continuous-time systems expressed as a function of tracking error by designing a properly chosen adaptive feedforward control input. Then, an optimal adaptive feedback scheme is introduced for the affine system to estimate the solution of the Hamilton-Jacobi-Bellman (HJB) equation online which becomes the optimal feedback control input for the closed-loop system. a Lyapunov based approach is employed to show that the tracking error converges to zero as well as the cost function estimation and the internal dynamics estimation errors provided the system input is persistently exciting. Finally, numerical results are provided to verify the theoretical results. © 2012 IEEE.
Recommended Citation
H. Zargarzadeh et al., "Optimal Adaptive Control of Nonlinear Continuous-time Systems in Strict Feedback Form with Unknown Internal Dynamics," Proceedings of the IEEE Conference on Decision and Control, pp. 4127 - 4132, article no. 6426574, Institute of Electrical and Electronics Engineers, Jan 2012.
The definitive version is available at https://doi.org/10.1109/CDC.2012.6426574
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
International Standard Serial Number (ISSN)
2576-2370; 0743-1546
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2012
