Value-Iteration-Based Neuro-Optimal Tracking Control for Affine Systems with Completely Unknown Dynamics

In this paper, the versatile value-iteration-based control method, aimed at affine systems with unknown dynamics, is proposed to deal with the optimal tracking control problem. Neural networks are adopted to approximate system dynamics and a novel approach is presented to estimate the steady state control input based on the established identifier. Additionally, two other neural networks, called the critic network and the action network, are used to implement the optimal tracking control algorithm. Finally, based on the proposed method, the tracking controller is designed to control a specific simulation example. It is shown that, for any randomly given initial state vector, the controller is able to make the affine system track the reference trajectory without knowing the system dynamics.