Self-Learning Robust Control Synthesis and Trajectory Tracking of Uncertain Dynamics.

Abstract

In this article, we investigate the self-learning robust control synthesis and tracking design of general uncertain dynamical systems. Based on the adaptive critic learning, the robust stabilization method is developed with the help of conducting problem transformation. In addition, by considering the optimal control solution with a discounted cost function, the established method is extended to address the robust trajectory tracking design problem. The Lyapunov stability analysis is also conducted for proving the robustness of the related control plants. Finally, the simulation verification with the three case studies is provided in terms of robust stabilization and trajectory tracking, respectively.