Multiple set-points tracking control method based on adaptive dynamic programming

To deal with a class of nonlinear discrete time systems with control constraints,we propose a multiple setpoints 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.