Zhao B, Liu D, Alippi C. Sliding-Mode Surface-Based Approximate Optimal Control for Uncertain Nonlinear Systems With Asymptotically Stable Critic Structure.
IEEE Trans Cybern 2021;
51:2858-2869. [PMID:
31945008 DOI:
10.1109/tcyb.2019.2962011]
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Abstract
This article develops a novel sliding-mode surface (SMS)-based approximate optimal control scheme for a large class of nonlinear systems affected by unknown mismatched perturbations. The observer-based perturbation estimation procedure is employed to establish the online updated value function. The solution to the Hamilton-Jacobi-Bellman equation is approximated by an SMS-based critic neural network whose weights error dynamics is designed to be asymptotically stable by nested update laws. The sliding-mode control strategy is combined with the approximate optimal control design procedure to obtain a faster control action. The stability is proved based on the Lyapunov's direct method. The simulation results show the effectiveness of the developed control scheme.
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