Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error

Lei Yang; Jennie Si; Konstantinos Tsakalis; Armando Rodriguez

doi:10.1109/TSMCB.2009.2021950

Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error

Lei Yang, Jennie Si, Konstantinos Tsakalis, Armando Rodriguez

Research output: Contribution to journal › Article › peer-review

78 Scopus citations

Abstract

This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.

Original language	English (US)
Pages (from-to)	1617-1622
Number of pages	6
Journal	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	39
Issue number	6
DOIs	https://doi.org/10.1109/TSMCB.2009.2021950
State	Published - 2009

Keywords

Approximate dynamic programming (ADP)
Direct heuristic dynamic programming (direct HDP)
Lyapunov stability
Tracking control

ASJC Scopus subject areas

Control and Systems Engineering
Software
Information Systems
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TSMCB.2009.2021950

Cite this

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title = "Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error",

abstract = "This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.",

keywords = "Approximate dynamic programming (ADP), Direct heuristic dynamic programming (direct HDP), Lyapunov stability, Tracking control",

author = "Lei Yang and Jennie Si and Konstantinos Tsakalis and Armando Rodriguez",

note = "Funding Information: Manuscript received May 24, 2008; revised October 15, 2008 and January 15, 2009. First published May 29, 2009; current version published November 18, 2009. This work was supported in part by National Science Foundation under Grant ECS-0002098, Grant ECS-0233529, and Grant DUE-0231440. This paper was recommended by Associate Editor W. E. Dixon.",

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doi = "10.1109/TSMCB.2009.2021950",

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T1 - Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error

AU - Yang, Lei

AU - Si, Jennie

AU - Tsakalis, Konstantinos

AU - Rodriguez, Armando

N1 - Funding Information: Manuscript received May 24, 2008; revised October 15, 2008 and January 15, 2009. First published May 29, 2009; current version published November 18, 2009. This work was supported in part by National Science Foundation under Grant ECS-0002098, Grant ECS-0233529, and Grant DUE-0231440. This paper was recommended by Associate Editor W. E. Dixon.

PY - 2009

Y1 - 2009

N2 - This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.

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KW - Approximate dynamic programming (ADP)

KW - Direct heuristic dynamic programming (direct HDP)

KW - Lyapunov stability

KW - Tracking control

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Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error

Abstract

Keywords

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