Tran Phuong Nam
Hanoi University of Science and Technology

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Adaptive dynamic programing based optimal control for a robot manipulator Dao Phuong Nam; Nguyen Hong Quang; Tran Phuong Nam; Tran Thi Hai Yen
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 11, No 3: September 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (405.397 KB) | DOI: 10.11591/ijpeds.v11.i3.pp1123-1131

Abstract

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.