Yeah defeat or surrender. He hoped he would surrended and have an opportunity to resurrect the Jedi Order and defeat the Sith. Remember, the only one with the power to destroy the SIth is Anakin. No Jedi (including Yoda) has the pwoer to destroy the Sith. Which leads onto the only one powerful enough to defeat Sidious is Anakin (or even Luke). But yes, Anakin chose defeat ( he was too arrogant and blinded by the Sith). Hence he lost his limbs