论文标题
一类非线性系统和实验比较的接近最佳跟踪控制
Near optimal tracking control of a class of nonlinear systems and an experimental comparison
论文作者
论文摘要
在本文中，解决了一类非线性系统的接近最佳跟踪。自适应（近似）动态编程方法用于以封闭形式计算最佳控制。 ADP（自适应（近似）动态编程）已被广泛用于解决非线性控制系统的最佳调节和跟踪问题。尽管在所谓的监督和无监督的ADP技术方面取得了进步，但它们仍具有主要吸引力。也就是说，需要针对每个特定的参考轨迹重新计算最佳控制器。这项工作的主要目标是解决一类非线性系统的问题。最后，该方法应用于三角洲机器人，并通过实验分析该方法的性能。
In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming) has been widely used to resolve optimal regulation and tracking problems of nonlinear control systems. Despite advances in the so called supervised and unsupervised ADP techniques for optimal tracking, they have a main draw back. That is, the optimal controller needs to be recalculated for every particular reference trajectory. The main goal of this work is to address this issue for a class of nonlinear systems. Finally, this approach is applied on a Delta robot and the performance of the method is analyzed experimentally.
