Model-based reinforcement learning for infinite-horizon approximate optimal tracking

This paper provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with unknown drift dynamics where model-based reinforcement learning is used to relax the persistence of excitation condition. Model-based reinforcement learning is implemented using a concurrent learning-based system identifier to simulate experience by evaluating the Bellman error over unexplored areas of the state space. Tracking of the desired trajectory and convergence of the developed policy to a neighborhood of the optimal policy is established via Lyapunov-based stability analysis.