Observer-Based Adaptive Inverse Optimal Output Regulation for a Class of Uncertain Nonlinear Systems

Abstract

This paper addresses the adaptive inverse optimal output regulation problem for a class of uncertain nonlinear systems driven by an exosystem. The unknown parameters, internal disturbances, and unmeasured states are contained in the nonlinear system. Firstly, the output regulation problem is decomposed into a feedforward control design problem which can be solved by the internal model based on the output regulation theory, and an adaptive inverse optimal stabilization problem. Then an auxiliary system is designed, and a new state observer related to the auxiliary system is given. By combining adaptive control technology and inverse optimal control method, a novel adaptive output feedback inverse optimal controller is developed to make the output of the system track the reference signal fast. With this control strategy, all the signals of the closed-loop system are uniformly ultimately bounded (UUB), and the newly well-defined cost functional which is connected with the auxiliary system and the controller can be minimized. Finally, a simulation case is put forward to verify the feasibility of the newly raised controller and the state observer.