Adaptive optimal control approach to robust tracking of uncertain linear systems based on policy iteration

Dengguo Xu, Qinglin Wang, Yuan Li*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

In this study, an optimal adaptive control approach is established to solve the robust output tracking problem of a class of continuous time uncertain linear systems based on the policy iteration (PI) in actor-critic algorithm. First, by augmenting the integral variables of the tracking error into state variables, the robust tracking problem is transformed into a robust control problem of an augmented uncertain linear system. It is proven that the robust control law of the augmented system enables the output of the considered system to track a polynomial time signal asymptotically. Second, an optimal control method in the corresponding auxiliary nominal system is established, and based on the Bellman optimality principle, PI algorithms are proposed to solve online tracking controllers for the matched and the mismatched uncertain systems. Finally, for testing the availability of the proposed approach and theoretical results, two numerical experiments are provided.

Original languageEnglish
Pages (from-to)668-680
Number of pages13
JournalMeasurement and Control
Volume54
Issue number5-6
DOIs
Publication statusPublished - May 2021

Keywords

  • Policy iteration
  • optimal control
  • robust tracking
  • uncertain linear system

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