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

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.