Abstract
This article investigates the optimal output regulation problem for continuous-time strict-feedback nonlinear systems, in which the full states are not measurable in real-time, and a priori knowledge of system dynamics and an admissible control policy are both unavailable. Fundamental challenges here differing from existing works are twofold: 1) only output data rather than full state data are available; 2) policy iteration cannot be performed since admissible control policy is not available. To solve the problem, an adaptive observer and an adaptive solver are designed and simultaneously applied to observe the states, estimate the uncertain parameters, and solve the nonlinear regulator equations. Then, a data-driven value iteration algorithm is designed based on the observed data to solve a positive semidefinite Hamilton–Jacobi–Bellman equation resulting from the formulated problem with rigorous convergence analysis. It is guaranteed that the resulting closed-loop system is uniformly ultimately bounded under the designed data-driven value iteration algorithm. Finally, a simulation study on the designed algorithm is presented using a van der Pol oscillator to demonstrate its effectiveness. © 2024 IEEE.
Original language | English |
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Pages (from-to) | 767-782 |
Number of pages | 16 |
Journal | IEEE Transactions on Automatic Control |
Volume | 70 |
Issue number | 2 |
Online published | 12 Aug 2024 |
DOIs | |
Publication status | Published - Feb 2025 |
Funding
This work was supported by the fellowship award from the Research Grants Council of the Hong Kong Special Administrative Region, China, Project No. CityU PDFS2324-1S02, the National Natural Science Foundation of China under Grant 61991404, 62373090, 62394342, Research Program of the Liaoning Liaohe Laboratory, No. LLL23ZZ-05-01, Key Research and Development Program of Liaoning Province under Grant 2023JH26/10200011
Research Keywords
- adaptive observer
- Adaptive systems
- adaptive/approximate dynamic programming
- Mathematical models
- nonlinear system
- Nonlinear systems
- Observers
- Optimal control
- Output regulation
- Regulation
- Regulators