DocumentCode :
550506
Title :
Adaptive inverse optimal control for a class of nonlinear system
Author :
Wang Jun ; Ji Ping ; Chu Zhong ; Liu Wei
Author_Institution :
Key Lab. of Machine Vision & Intell. Control Technol., Hefei Univ., Hefei, China
fYear :
2011
fDate :
22-24 July 2011
Firstpage :
1925
Lastpage :
1928
Abstract :
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 Kalman´s margins for the linear quadratic regulator.
Keywords :
adaptive control; control system synthesis; feedback; inverse problems; linear quadratic control; nonlinear control systems; time-varying systems; adaptive inverse optimal control; adaptive update law; backstepping algorithm; constant unknown parameters; inverse optimal gain assignment problem; inverse optimal systems; linear quadratic regulator; nonlinear system; strict-feedback nonlinear continuous system; time-varing bounded disturbance; Adaptive control; Algorithm design and analysis; Backstepping; Nonlinear systems; Optimal control; Robustness; Adaptive; Backstepping Algorithm; Inverse Optimal; Strict-Feedback System; Unknown Time-Varing Bounded Disturbance;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
ISSN :
1934-1768
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
Type :
conf
Filename :
6000845
Link To Document :
بازگشت