Abstract
In this paper we propose a discrete tracking control system for 3 degrees of freedom (DOF) robotic manipulator control. The control system is composed of Adaptive Critic Design (ACD), a PD controller and a supervisory term derived from the Lyapunov stability theory. ACD in Dual–Heuristic Programming (DHP) configuration consists of two structures realized in a form of neural networks (NN): actor - generates a control signal and critic approximates a derivative of the cost function with respect to the state. The control system works on-line, does not require a preliminary learning and uses the 3DOF manipulator dynamics model for a state prediction in ACD structure. Verification of the proposed control algorithm was realized on a SCORBOT 4PC manipulator.
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Gierlak, P., Szuster, M., Żylski, W. (2010). Discrete Dual–Heuristic Programming in 3DOF Manipulator Control. In: Rutkowski, L., Scherer, R., Tadeusiewicz, R., Zadeh, L.A., Zurada, J.M. (eds) Artifical Intelligence and Soft Computing. ICAISC 2010. Lecture Notes in Computer Science(), vol 6114. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13232-2_31
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DOI: https://doi.org/10.1007/978-3-642-13232-2_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13231-5
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