中文摘要：

针对一类典型的带有控制约束的非线性离散时间系统,提出了一种基于自适应动态规划（adaptive dynamicprogramming,ADP）算法的多设定值跟踪控制方法,并对其收敛性和稳定性做了严格分析.在ADP迭代跟踪控制的基础上,根据多模型控制的思想,设置阶梯状的参考轨迹,使得系统状态逐渐地跟踪到最终设定值,保证了系统的稳定性,极大地减小超调量,加快了响应时问,改善控制品质;同时由于控制器约束的存在,引入非二次型的性能指标函数,使得控制量始终在有界的范围内变化.最后对仿真结果进行了分析,结果表明了此方法的可行性和有效性.

英文摘要：

To deal with a class of nonlinear discrete time systems with control constraints, we propose a multiple set- points tracking control strategy based on adaptive dynamic programming （ADP）, and rigorously prove the convergence and stability of the system. According to the idea of multiple-model control, a ladder-shaped reference trajectory is designed. In the entire control process, system states track the final value of the reference trajectory step by step, ensuring the stability of the system and significantly reducing the overshoot and response-time. A non-quadratic performance functional is introduced to tackle the control constraints by consistently restricting the control inputs in a bounded range. Simulation results are shown and analyzed, demonstrating the feasibility and validity of the proposed optimal tracking control scheme.