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.
Sliding-Mode Surface-Based Approximate Optimal Control for Uncertain Nonlinear Systems With Asymptotically Stable Critic Structure
Alippi, Cesare
2020-01-01
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.File | Dimensione | Formato | |
---|---|---|---|
08960652.pdf
Accesso riservato
:
Publisher’s version
Dimensione
1.21 MB
Formato
Adobe PDF
|
1.21 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.