Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 7, Pages 3182-3194Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2019.2900326
Keywords
Delay effects; Nonlinear systems; Adaptive systems; Resistance; Delays; Mobile robots; Adaptive dynamic programming (ADP); neural network (NN); time delay; tracking control; wheeled mobile robot
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Funding
- National Natural Science Foundation of China [51822502, 61622303, 61603164, 61773188]
- Foundation for Innovative Research Groups of the Natural Science Foundation of China [51521003]
- Fundamental Research Funds for the Central Universities [HIT.BRETIV.201903]
- 111 Project [B07018]
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In this paper, an adaptive dynamic programming-based online adaptive tracking control algorithm is proposed to solve the tracking problem of the partial uncertain time-delayed nonlinear affine system with uncertain resistance. Using the discrete-time Hamilton-Jacobi-Bellman function, the input time-delay separation lemma, and the Lyapunov-Krasovskii functionals, the partial state and input time delay can be determined. With the approximation of the action and critic, and resistance neural networks, a near-optimal controller and appropriate adaptive laws are defined to guarantee the uniform ultimate boundedness of all signals in the target system, and the tracking error convergence to a small compact set to zero. A numerical simulation of the wheeled mobile robotic system is presented to verify the validity of the proposed method.
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