In:
International Journal of Power Electronics and Drive Systems (IJPEDS), Institute of Advanced Engineering and Science, Vol. 11, No. 3 ( 2020-09-01), p. 1123-
Abstract:
〈 p 〉 〈 span 〉 In this paper, the optimal control problem of a nonlinear robot manipulator in absence of holonomic constraint force based on the point of view of adaptive dynamic programming (ADP) is presented. To begin with, the manipulator was intervened by exact linearization. Then the framework of ADP and Robust Integral of the Sign of the Error (RISE) was developed. The ADP algorithm employs Neural Network technique to tune simultaneously the actor-critic network to approximate the control policy and the cost function, respectively. The convergence of weight as well as position tracking control problem was considered by theoretical analysis. Finally, the numerical example is considered to illustrate the effectiveness of proposed control design. 〈 /span 〉 〈 /p 〉
Type of Medium:
Online Resource
ISSN:
2722-256X
,
2088-8694
DOI:
10.11591/ijpeds.v11.i3
DOI:
10.11591/ijpeds.v11.i3.pp1123-1131
Language:
Unknown
Publisher:
Institute of Advanced Engineering and Science
Publication Date:
2020
detail.hit.zdb_id:
2667284-4
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