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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| Médium: | EJournal Article |
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Institute of Advanced Engineering and Science,
2020-09-01.
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