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Adaptive Actor–Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.
- Source :
-
IEEE Transactions on Neural Networks & Learning Systems . Jan2016, Vol. 27 Issue 1, p165-177. 13p. - Publication Year :
- 2016
-
Abstract
- This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor–critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 2162237X
- Volume :
- 27
- Issue :
- 1
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Neural Networks & Learning Systems
- Publication Type :
- Periodical
- Accession number :
- 111967207
- Full Text :
- https://doi.org/10.1109/TNNLS.2015.2472974