一类非仿射系统的执行依赖启发式在线跟踪控制

Action dependent heuristic online tracking control for a class of nonaffine systems

针对非仿射系统的跟踪控制问题,提出一种基于执行依赖启发式动态规划(ADHDP)结构的在线设计方法。首先,考虑一类未知非仿射系统,进行从跟踪控制问题到误差调节问题的转换;然后,设计基于ADHDP结构的跟踪控制器,并采用在线学习的方式,实现系统控制与执行网络和评判网络的训练同步,使得系统状态能够跟踪期望轨迹;最后,通过一个仿真实例验证所提方法的有效性。

To solve the tracking control problem for nonaffine systems,an online design method was developed by using the action dependent heuristic dynamic programming(ADHDP)structure.Firstly,the tracking control problem for the unknown nonaffine system was transformed into the error regulation problem.Then,the ADHDP tracking controller was designed and the online learning method was adopted to synchronize the system control with the training of action networks and critic networks,so that the desired trajectory could be tracked by the system state.Finally,a simulation example was given to verify the effectiveness of the proposed method.