International Journal of Power Electronics and Drive Systems (IJPEDS)
Vol 11, No 3: September 2020

Adaptive dynamic programing based optimal control for a robot manipulator

Dao Phuong Nam (Hanoi University of Science and Technology)
Nguyen Hong Quang (Thai Nguyen University of Technology)
Tran Phuong Nam (Hanoi University of Science and Technology)
Tran Thi Hai Yen (Thai Nguyen University of Technology)



Article Info

Publish Date
01 Sep 2020

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. 

Copyrights © 2020






Journal Info

Abbrev

IJPEDS

Publisher

Subject

Control & Systems Engineering Electrical & Electronics Engineering

Description

International Journal of Power Electronics and Drive Systems (IJPEDS, ISSN: 2088-8694, a SCOPUS indexed Journal) is the official publication of the Institute of Advanced Engineering and Science (IAES). The scope of the journal includes all issues in the field of Power Electronics and drive systems. ...