Robust Optimal Output Regulation for Nonlinear Systems With Unknown Parameters
针对未知参数的非线性系统，提出一种鲁棒最优输出调节框架，结合内模原理的前馈控制器和自适应动态规划的反馈控制器，确保闭环信号有界且跟踪误差任意小，同时最小化性能指标。
In this article, a robust optimal output regulation framework for nonlinear systems with unknown parameters is proposed, in which a suboptimal feedforward–feedback controller is designed. Specifically, a novel internal model principle-based feedforward controller is designed to cope with the adverse effects of unknown parameters. Considering the system performance and control cost, an optimal-feedback controller is then designed via the adaptive dynamic programming method. It is proved that under the proposed suboptimal controller, all the signals of the closed-loop systems remain bounded and the tracking error is arbitrarily small. Furthermore, the predefined performance index is minimized. Finally, two simulation examples are given to verify the effectiveness of the proposed framework.