Near optimal tracking control of a class of nonlinear systems and an experimental comparison

Farshid Asadi, Ali Heydari

Published 2020-04-03Version 1

In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP\footnote{Adaptive (approximate) dynamic programming} has been widely used to resolve optimal regulation and tracking problems of nonlinear control systems. Despite advances in the so called supervised and unsupervised ADP techniques for optimal tracking, they have a main draw back. That is, the optimal controller needs to be recalculated for every particular reference trajectory. The main goal of this work is to address this issue for a class of nonlinear systems. Finally, this approach is applied on a Delta robot and the performance of the method is analyzed experimentally.