A suboptimal learning control scheme for non-linear systems with time-varying parametric uncertainties

Abstract

In this paper, learning control is integrated with non-linear optimal control to enhance control performance of a class of non-linear systems with time-varying parametric uncertainties. A suboptimal control strategy based on a control Lyapunov function (CLF) and Sontag's formula provides suboptimal performance as well as stability along the time horizon for the nominal part of the non-linear dynamic system. The proposed learning mechanism learns the unknown time-varying parametric uncertainties so as to eliminate uncertain effects. System information both in time horizon and learning repetition horizon are incorporated in a composite energy function (CEF). The proposed control scheme achieve..