N-step optimal time-invariant trajectory tracking control for a class of nonlinear systems

In this paper, the time-invariant trajectory tracking control problem under N-step control is solved by finite horizon approximate dynamic programming (ADP) algorithms. At first, we convert the tracking control problem for time-invariant trajectory into a output regulation problem. The cost function guarantees the energy is minimum. Secondly, the regulation control scheme is proposed using finite horizon ADP technique to obtain the N-step control. Then two theorems are used to prove the convergence of the proposed control algorithm. Finally, the simulation is given to demonstrate the effectiveness and feasibility of the control scheme.