Adaptive Inverse Optimal Control for a Class of Nonlinear System

摘要：

This paper introduces the basic idea of adaptive inverse optimal control, gives the solvable theorem of inverse optimal gain assignment problem, design inverse optimal controller using Backstepping algorithm and an adaptive update law for strict-feedback nonlinear continuous system with unknown time-varing bounded disturbance and constant unknown parameters, which is nonlinear, continuous and easier to realize. The adaptive control law and the parameter update laws can be obtained at the same time by this design scheme. The results designed show simultaneously that inverse optimal systems yield stability margins, namely, achieving locally robustness, which is a nonlinear analog of Kalmans margins for the linear quadratic regulator.

作者: WANG Jun JI Ping CHU Zhong LIU Wei

作者单位: Key Lab of Machine Vision and Intelligence Control Technology, Hefei University, Hefei 230601, P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-4

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）