Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error.
This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.
Yang
Lei
L
Department of Control Science and Engineering, Zhejiang University, Hangzhou, China. y_lei@zju.edu.cn
Si
Jennie
J
Tsakalis
Konstantinos S
KS
Rodriguez
Armando A
AA