Approximate optimal control for an uncertain robot based on adaptive dynamic programming

• Published in: Neurocomputing (Amsterdam) Vol. 423; pp. 308 - 317
• Main Authors: Kong, Linghuan, Zhang, Shuang, Yu, Xinbo
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 29.01.2021
• Subjects: ADP; Neural networks; Robot; Robust optimal control; Neural networks; Robot; ADP; Robust optimal control

An approximate optimal scheme is proposed for an uncertain n-link robot subject to saturation non-linearity. A remarkable feature is that compared with the previous results, the model uncertainty in robotic dynamic is taken into account in the paper. Under the frame of adaptive dynamic programming (...