Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems

Tao Huang; Hongqian Lu; Yefeng Yang; Xianlin Huang

doi:10.23919/CCC63176.2024.10662635

Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems

Tao Huang^*
, Hongqian Lu
, Yefeng Yang
, Xianlin Huang

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Hong Kong Polytechnic University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded (UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.

Original language	English
Title of host publication	Proceedings of the 43rd Chinese Control Conference, CCC 2024
Editors	Jing Na, Jian Sun
Publisher	IEEE Computer Society
Pages	2351-2356
Number of pages	6
ISBN (Electronic)	9789887581581
DOIs	https://doi.org/10.23919/CCC63176.2024.10662635
State	Published - 2024
Event	43rd Chinese Control Conference, CCC 2024 - Kunming, China Duration: 28 Jul 2024 → 31 Jul 2024

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	43rd Chinese Control Conference, CCC 2024
Country/Territory	China
City	Kunming
Period	28/07/24 → 31/07/24

Keywords

Adaptive dynamic programming
Disturbance compensator
Robust cost function
Sliding mode control

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10.23919/CCC63176.2024.10662635

Cite this

Huang, T., Lu, H., Yang, Y., & Huang, X. (2024). Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems. In J. Na, & J. Sun (Eds.), Proceedings of the 43rd Chinese Control Conference, CCC 2024 (pp. 2351-2356). (Chinese Control Conference, CCC). IEEE Computer Society. https://doi.org/10.23919/CCC63176.2024.10662635

@inproceedings{7140909052a54dc287a1807a37af821c,

title = "Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems",

abstract = "This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded (UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.",

keywords = "Adaptive dynamic programming, Disturbance compensator, Robust cost function, Sliding mode control",

author = "Tao Huang and Hongqian Lu and Yefeng Yang and Xianlin Huang",

note = "Publisher Copyright: {\textcopyright} 2024 Technical Committee on Control Theory, Chinese Association of Automation.; 43rd Chinese Control Conference, CCC 2024 ; Conference date: 28-07-2024 Through 31-07-2024",

year = "2024",

doi = "10.23919/CCC63176.2024.10662635",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "2351--2356",

editor = "Jing Na and Jian Sun",

booktitle = "Proceedings of the 43rd Chinese Control Conference, CCC 2024",

address = "美国",

}

Huang, T, Lu, H, Yang, Y & Huang, X 2024, Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems. in J Na & J Sun (eds), Proceedings of the 43rd Chinese Control Conference, CCC 2024. Chinese Control Conference, CCC, IEEE Computer Society, pp. 2351-2356, 43rd Chinese Control Conference, CCC 2024, Kunming, China, 28/07/24. https://doi.org/10.23919/CCC63176.2024.10662635

Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems. / Huang, Tao; Lu, Hongqian; Yang, Yefeng et al.
Proceedings of the 43rd Chinese Control Conference, CCC 2024. ed. / Jing Na; Jian Sun. IEEE Computer Society, 2024. p. 2351-2356 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems

AU - Huang, Tao

AU - Lu, Hongqian

AU - Yang, Yefeng

AU - Huang, Xianlin

PY - 2024

Y1 - 2024

N2 - This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded (UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.

AB - This paper introduces a novel robust cost function for the ADP algorithm to suppress the impact of the disturbance for partially unknown second-order nonlinear systems. The sliding mode control is employed to design the cost function, which thereby enhances the performance of the closed-loop system. Furthermore, an offline disturbance compensator is proposed to further improve the robustness of the system. Subsequently, the trajectory of the entire closed-loop system is proved to be uniformly ultimate bounded (UUB) in a Lyapunov sense. Sufficient simulations are conducted to verify the effectiveness and superiority of the proposed method.

KW - Adaptive dynamic programming

KW - Disturbance compensator

KW - Robust cost function

KW - Sliding mode control

UR - https://www.scopus.com/pages/publications/85205522657

U2 - 10.23919/CCC63176.2024.10662635

DO - 10.23919/CCC63176.2024.10662635

M3 - 会议稿件

AN - SCOPUS:85205522657

T3 - Chinese Control Conference, CCC

SP - 2351

EP - 2356

BT - Proceedings of the 43rd Chinese Control Conference, CCC 2024

A2 - Na, Jing

A2 - Sun, Jian

PB - IEEE Computer Society

T2 - 43rd Chinese Control Conference, CCC 2024

Y2 - 28 July 2024 through 31 July 2024

ER -

Robust Sliding Mode Adaptive Dynamic Programming Control for Partially Unknown Second-order Nonlinear Systems

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