Adaptive Dynamic Programming based Integral Sliding Mode Control Law for Continuous-Time Systems: A Design for Inverted Pendulum Systems

Dao Phuong Nam, Nguyen Van Huong, and Do Trong Tan
School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
Abstract—This work presents an adaptive optimal control algorithm-based integral sliding mode control law for a class of continuous-time systems with input disturbance or uncertain and unknown parameters. The primary objective is to find a general form of integral sliding mode control law can assure that the system states are forced to reach a sliding surface in a finite time. Then, an adaptive optimal control based on the adaptive dynamic programming method is responsible for the robust stability of the closed-loop system. Finally, the theoretical analysis and simulation results demonstrate the performance of the proposed algorithm for an inverted pendulum system.

Index Terms—adaptive dynamic programming, Integral sliding mode control, Robust control, Unknown system dynamics, Inverted pendulum

Cite: Dao Phuong Nam, Nguyen Van Huong, and Do Trong Tan, "Adaptive Dynamic Programming based Integral Sliding Mode Control Law for Continuous-Time Systems: A Design for Inverted Pendulum Systems," International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 2, pp. 279-283, March 2019. DOI: 10.18178/ijmerr.8.2.279-283
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