Adaptive dynamic programing based optimal control for a robot manipulator
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 Robu...
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| フォーマット: | EJournal Article |
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Institute of Advanced Engineering and Science,
2020-09-01.
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| LEADER | 02024 am a22003013u 4500 | ||
|---|---|---|---|
| 001 | IJPEDS_20452_13160 | ||
| 042 | |a dc | ||
| 100 | 1 | 0 | |a Nam, Dao Phuong |e author |
| 100 | 1 | 0 | |a Thai Nguyen University of Technology |e contributor |
| 700 | 1 | 0 | |a Hong Quang, Nguyen |e author |
| 700 | 1 | 0 | |a Phuong Nam, Tran |e author |
| 700 | 1 | 0 | |a Hai Yen, Tran Thi |e author |
| 245 | 0 | 0 | |a Adaptive dynamic programing based optimal control for a robot manipulator |
| 260 | |b Institute of Advanced Engineering and Science, |c 2020-09-01. | ||
| 500 | |a https://ijpeds.iaescore.com/index.php/IJPEDS/article/view/20452 | ||
| 520 | |a 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. | ||
| 540 | |a Copyright (c) 2020 Institute of Advanced Engineering and Science | ||
| 540 | |a http://creativecommons.org/licenses/by-sa/4.0 | ||
| 546 | |a eng | ||
| 655 | 7 | |a info:eu-repo/semantics/article |2 local | |
| 655 | 7 | |a info:eu-repo/semantics/publishedVersion |2 local | |
| 655 | 7 | |2 local | |
| 786 | 0 | |n International Journal of Power Electronics and Drive Systems (IJPEDS); Vol 11, No 3: September 2020; 1123-1131 | |
| 786 | 0 | |n 2722-256X | |
| 786 | 0 | |n 2088-8694 | |
| 786 | 0 | |n 10.11591/ijpeds.v11.i3 | |
| 787 | 0 | |n https://ijpeds.iaescore.com/index.php/IJPEDS/article/view/20452/13160 | |
| 856 | 4 | 1 | |u https://ijpeds.iaescore.com/index.php/IJPEDS/article/view/20452/13160 |z Get Fulltext |