Adaptive output-feedback optimal control for continuous-time linear systems based on adaptive dynamic programming approach

Abstract

This paper investigates the adaptive output-feedback optimal control problem for a class of continuous-time (CT) linear systems with dynamic uncertainties. Data-based controller design algorithm with policy iteration form is developed through adaptive dynamic programming (ADP) technique. In the process of proposed algorithm, only measured input and output information of the system is used to learn optimal control gain, but the exactly knowledge of the system is not required. Different from the existing works, the adaptive controllers learned by the algorithm has certain robustness to the dynamic uncertainties. Three examples are given to test the effectiveness and feasibility of the proposed approach.