Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints

doi:10.1109/JAS.2021.1004018

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	Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints
	Jiaxin Zhang; Kewen Li; Yongming Li
刊名	IEEE/CAA Journal of Automatica Sinica
	2021
卷号	8 期号:6 页码:1119-1132
关键词	Backstepping design immeasurable states neural-networks (NNs) optimal control state constraints
ISSN号	2329-9266
DOI	10.1109/JAS.2021.1004018
英文摘要	In this paper, an adaptive neural-network (NN) output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics, input saturation and state constraints. Neural networks are used to approximate unknown internal dynamics and an adaptive NN state observer is developed to estimate immeasurable states. Under the framework of the backstepping design, by employing the actor-critic architecture and constructing the tan-type Barrier Lyapunov function (BLF), the virtual and actual optimal controllers are developed. In order to accomplish optimal control effectively, a simplified reinforcement learning (RL) algorithm is designed by deriving the updating laws from the negative gradient of a simple positive function, instead of employing existing optimal control methods. In addition, to ensure that all the signals in the closed-loop system are bounded and the output can follow the reference signal within a bounded error, all state variables are confined within their compact sets all times. Finally, a simulation example is given to illustrate the effectiveness of the proposed control strategy.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/44568]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Jiaxin Zhang,Kewen Li,Yongming Li. Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints[J]. IEEE/CAA Journal of Automatica Sinica,2021,8(6):1119-1132.
APA	Jiaxin Zhang,Kewen Li,&Yongming Li.(2021).Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints.IEEE/CAA Journal of Automatica Sinica,8(6),1119-1132.
MLA	Jiaxin Zhang,et al."Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints".IEEE/CAA Journal of Automatica Sinica 8.6(2021):1119-1132.