Discrete Dual–Heuristic Programming in 3DOF Manipulator Control
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.
KeywordsApproximate Dynamic Programming Dual Heuristic Programming Neural Networks Robotic Manipulators Tracking Control
Unable to display preview. Download preview PDF.
- 1.Bellman, R.: Dynamic Programming. Princeton University Press, New York (1957)Google Scholar
- 3.Giergiel, J., Hendzel, Z., Zylski, W.: Modeling and Control of Wheeled Mobile Robots. WNT, Warsaw (2002) (in Polish)Google Scholar
- 5.Hendzel, Z., Szuster, M.: Discrete Model-Based Dual Heuristic Programming in Wheeled Mobile Robot Control. In: 10th International Conference on Dynamical Systems - Theory and Applications, Lodz, pp. 745–752 (2009)Google Scholar
- 6.Powell, W.B.: Approximate Dynamic Programming: Solving the Curses of Dimensionality. Willey-Interscience, Princeton (2007)Google Scholar
- 8.Si, J., Barto, A.G., Powell, W.B., Wunsch, D.: Handbook of Learning and Approximate Dynamic Programming. IEEE Press, Wiley-Interscience (2004)Google Scholar