%0 Journal Article
%T An observer-based approximate optimal tracking control for nonlinear systems with persistent disturbances<br>基于观测器的受扰非线性系统近似最优跟踪控制
%A TANG Gong-you
%A GAO De-xin
%A ZHANG Bao-lin
%A <br>唐功友
%A 高德欣
%A 张宝琳
%J 控制理论与应用
%D 2007
%I 
%X The optimal output tracking control(OOTC) problem for a class of nonlinear systems with persistent distur-bances is considered.An approximate design algorithm of the OOTC law is presented in the finite time domain.Firstly,the two-point boundary value(TPBV) problem,which is derived from the original OOTC theory,is transformed to a coupled nonlinear TPBV problem in state vectors and adjoint vectors.The coupled TPBV problem is further transformed to two decoupled linear differential sequences via a recently developed successive approximation approach(SAA).By iteratively solving the adjoint vector sequence,the OOTC law can be obtained,which consists of analytic linear feedforward and feed-back terms,as well as a nonlinear compensation term determined by the limit of the adjoint vector sequence.Furthermore,a reduced-order reference input observer and a reduced-order disturbance observer are constructed in order to solve the physically realizable problem of feedforward control.Finally,simulation examples show the effectiveness of the presented approach.
%K nonlinear systems
%K disturbances
%K optimal control
%K output tracking control
%K reduced-order observer<br>非线性系统
%K 扰动
%K 最优控制
%K 输出跟踪控制
%K 降维观测器
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=9ECD2277F5A79A9E9D02FA781C43206F&yid=A732AF04DDA03BB3&vid=B91E8C6D6FE990DB&iid=94C357A881DFC066&sid=00B9006659EBD8AC&eid=507521DBC725630F&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=17