Disturbance observer based actor-critic learning control for uncertain nonlinear systems

Abstract

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 time-varying disturbance. To be specific, the actor network is employed to estimate the unknown system dynamic, the critic network is developed to evaluate the control performance, and the disturbance observer is leveraged to provide efficient estimation of the compounded disturbance which includes the time-varying disturbance and the actor-critic network approximation error. Consequently, high-gain feedback is avoided and the improved tracking performance can be expected. Moreover, a composite weight adaptation law for actor network is constructed by utilizing two types of signals, the cost function and the modeling error. Eventually, theoretical analysis demonstrates that the developed controller can guarantee bounded stability. Extensive simulations and experiments on a robot manipulator are implemented to validate the performance of the resulted control strategy.