| Disturbance observer based actor-critic learning control for uncertain nonlinear systems |
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| 作者姓名： | Xianglong LIANG Zhikai YAO Yaowen GE Jianyong YAO |
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| 作者单位： | 1. School of Mechanical Engineering, Nanjing University of Science and Technology;2. College of Artificial Intelligence, Nanjing University of Post and Telecommunication |
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| 基金项目： | supported by the National Key R&D Program of China (No. 2021YFB2011300)；;the National Natural Science Foundation of China (No. 52075262)； |
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| 摘 要： | This paper investigates the disturbance observer based actor-critic learning control for a class of uncertain nonlinear systems in the presence of unmodeled dynamics and time-varying disturbances. The proposed control algorithm integrates a filter-based design method with actor-critic learning architecture and disturbance observer to circumvent the unmodeled dynamic and the timevarying disturbance. To be specific, the actor network is employed to estimate the unknown system dynamic, the critic n...
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