Fixed-Time Concurrent Learning-based Robust Approximate Optimal Control

This repository contains the code for the paper "Fixed-Time Concurrent Learning-based Robust Approximate Optimal Control" accepted by the Nonlinear Dynamics Journal. The simulation demonstrates the effectiveness of the proposed method in controlling a nonlinear system with uncertainties.

• Details of the paper can be found at: Junkai Tan's Publications
• Download the paper at: Download pdf
• Quadrotor hardware experiment demo: YouTube Video

Citation

If you use this code or find our research helpful, please cite our paper:

@article{Tan2025,
    author = {Tan, Junkai and Xue, Shuangsi and Niu, Tiansen and Qu, Kai and Cao, Hui and Chen, Badong},
    title = {Fixed-Time Concurrent Learning-based Robust Approximate Optimal Control},
    journal = {Nonlinear Dynamics},
    year = {2025},
    month = {in press}
}

Overview

Simulation: Fixed-Time Concurrent Learning-based Robust Approximate Optimal Control for a nonlinear system with uncertainties.

The code is implemented in MATLAB and includes the following files:

• Simulation/main_FxT_CL_ADP.m: Main file to run the simulation
• Simulation/plot_fig_FxT_CL_ADP.m: Main file to plot the results
• Data/data_case1.mat: Data file containing the results of the simulation