Title :
Optimal tracking control for unknown nonlinear systems based on locally weighted learning
Author :
Dong, Wenjie ; Farrell, Jay A.
Author_Institution :
Dept. of Electr. Eng., Univ. of California, Riverside, CA, USA
Abstract :
This paper considers the optimal tracking control of unknown nonlinear systems. To deal with the uncertainties in the system, a locally weighted learning observer (LWLO) is first proposed. Based on the proposed LWLO, analytic optimal controllers are proposed in the sense of pointwise min-norm. To show effectiveness of the proposed controllers, numerical simulations are presented.
Keywords :
dynamic programming; learning systems; nonlinear control systems; observers; optimal control; tracking; uncertain systems; dynamic programming; locally weighted learning observer; optimal tracking control; pointwise min-norm; uncertain system; unknown nonlinear system; Control systems; Cost function; Dynamic programming; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Open loop systems; Optimal control; Partial differential equations; Stability;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739174
