Online reinforcement learning control via discontinuous gradient

Summary This work proposes a reinforcement learning control scheme for systems affected by persistent external perturbations. This scheme relies on and high‐order sliding mode control techniques combined to estimate the parameters with a certain degree of precision and simultaneously attenuate persistent and state‐dependent perturbations. The proposed solution is a novel design technique based on the minimization method via Discontinuous Gradient. The stability of the proposed scheme is proved via the Lyapunov approach.