Discrete Dual–Heuristic Programming in 3DOF Manipulator Control

  • Piotr Gierlak
  • Marcin Szuster
  • Wiesław Żylski
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6114)


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.


Approximate Dynamic Programming Dual Heuristic Programming Neural Networks Robotic Manipulators Tracking Control 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Piotr Gierlak
    • 1
  • Marcin Szuster
    • 1
  • Wiesław Żylski
    • 1
  1. 1.Department of Applied Mechanics and RoboticsRzeszów University of TechnologyRzeszówPoland

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