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Suboptimal Control for Nonlinear Systems with Disturbance via Integral Sliding Mode Control and Policy Iteration

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Abstract

In this paper, we consider a suboptimal control problem for nonlinear systems with unmatched disturbance via integral sliding mode control and policy iteration. Firstly, the unmatched disturbance is estimated by a nonlinear disturbance observer. Secondly, the integral sliding mode controller based on the disturbance estimation is designed to guarantee the reachability of the sliding-mode surface. Furthermore, the policy iteration approach based on actor-critic neural networks is used to design the suboptimal controller, which can achieve the desired performance. Finally, the effectiveness of the proposed approach is demonstrated through simulation examples.

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Acknowledgements

This research is supported by the National Natural Science Foundation of China [Grant Number 61473202]. The authors are grateful for the anonymous referees and the editors for their helpful comments and suggestions.

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  1. Tianjin University, Tianjin, China

    Yuqing Zheng & Guoshan Zhang

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  1. Yuqing Zheng
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  2. Guoshan Zhang
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Correspondence to Guoshan Zhang.

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Zheng, Y., Zhang, G. Suboptimal Control for Nonlinear Systems with Disturbance via Integral Sliding Mode Control and Policy Iteration. J Optim Theory Appl 185, 652–677 (2020). https://doi.org/10.1007/s10957-020-01652-7

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  • DOI: https://doi.org/10.1007/s10957-020-01652-7

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