Approximate Optimal Trajectory Tracking for Continuous Time Nonlinear Systems

Rushikesh Kamalapurkar; Huyen Dinh; Shubhendu Bhasin; Warren Dixon

doi:10.1016/j.automatica.2014.10.103

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arXiv · 1301.7664

Approximate Optimal Trajectory Tracking for Continuous Time Nonlinear Systems

Rushikesh Kamalapurkar·Huyen Dinh·Shubhendu Bhasin·Warren Dixon

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Abstract

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has remained a non-trivial open problem. The control development in this paper guarantees ultimately bounded tracking of a desired trajectory, while also ensuring that the controller converges to an approximate optimal policy.

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Rushikesh Kamalapurkar, Huyen Dinh, Shubhendu Bhasin, Warren Dixon. 2013-01-31. Approximate Optimal Trajectory Tracking for Continuous Time Nonlinear Systems. https://doi.org/10.1016/j.automatica.2014.10.103

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