In this chapter, a new adaptive algorithm that solves the continuous-time (CT) optimal control problem online in real time for affine-in-the-inputs non-linear systems has been proposed. This algorithm is called as synchronous online optimal adaptive control for CT systems. The structure of this controller was based on the reinforcement learning policy iteration (RL PI ) algorithm, and the proofs were carried out using adaptive control Lyapunov function techniques.
Optimal adaptive control using synchronous online learning, Page 1 of 2
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