Adaptive Optimal Control Based on Parameter Estimation for Servomechanisms

Abstract In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identified online first. Based on parameter estimation, the optimal control policy is achieved through adaptive dynamic programming.The estimation removes an approximation structure from the original method. Therefore the number of unknown weights in approximation structures, to be calculated, is reduced. The analysis for convergence is presented to prove the validity. Finally, simulation results demonstrate that the scheme can approximate the optimal control policy rapidly and effectively.