Huyen Dinh

Rushikesh Kamalapurkar, Huyen Dinh, Shubhendu Bhasin et al.

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has remained a non-trivial open problem. The control development in this paper guarantees ultimately bounded tracking of a desired trajectory, while also ensuring that the controller converges to an approximate optimal policy.