首页|Researchers from University of Economics Describe Findings in Robotics (ADP-Base d H [ [ ] ] Optimal Control of Robot Manipulators With Asymmetric Input Constraints and Dist urbances)
Researchers from University of Economics Describe Findings in Robotics (ADP-Base d H [ [ ] ] Optimal Control of Robot Manipulators With Asymmetric Input Constraints and Dist urbances)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – A new study on robotics is now availab le. According to news reporting from Hanoi, Vietnam, by NewsRx journalists, rese arch stated, “Trajectory tracking control for robot manipulators is an attractiv e topic in the research community.” Our news editors obtained a quote from the research from University of Economics : “This is a challenging problem because robot manipulators are complex nonlinea r systems. Furthermore, the tracking control performance for robot manipulators is greatly affected by input constraints and external disturbances. This paper p roposes a novel $ H_{\ infty } $ optimal controller for robot manipulators with asymmet ric input constraints and external disturbances based on adaptive dynamic progra mming (ADP). Firstly, a strict feedback nonlinear system is used to represent th e robot manipulator dynamics, and then a feedforward controller is designed to c onstruct the tracking error dynamics. Secondly, a value function is introduced, and the Hamilton-Jacobi-Isaacs equation is made and approximated online by the p rinciple of adaptive dynamic programming. Thirdly, the optimal control law and d isturbance compensation law are determined.”
University of EconomicsHanoiVietnamAsiaDynamic ProgrammingEmerging TechnologiesMachine LearningRobotRobo tics
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