Observer-Based Adaptive Dynamic Programming for Tracking Control of Haptic Manipulator

Junhui Liu, Xiaolong Duan, Hanlin Dong, Zhiqiang Ma

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This article introduces a control scheme with disturbance observer and adaptive dynamic programming algorithm for stable motion of haptic manipulator. To reduce the negative influence of disturbance on the motion of haptic manipulator, a disturbance observer is added to the scheme, and an actor-critic neural network is utilized to approximate the optimal strategy and performance index function, respectively. The proposed scheme is used to cope with problem of model uncertainty and disturbance of the haptic manipulator. The simulation results indicate that the observer’s disturbance estimation is accurate, and the control scheme has excellent tracking performance and robustness.

Original languageEnglish
Title of host publicationAdvances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 12
EditorsLiang Yan, Haibin Duan, Yimin Deng
PublisherSpringer Science and Business Media Deutschland GmbH
Pages521-530
Number of pages10
ISBN (Print)9789819622436
DOIs
StatePublished - 2025
EventInternational Conference on Guidance, Navigation and Control, ICGNC 2024 - Changsha, China
Duration: 9 Aug 202411 Aug 2024

Publication series

NameLecture Notes in Electrical Engineering
Volume1348 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

ConferenceInternational Conference on Guidance, Navigation and Control, ICGNC 2024
Country/TerritoryChina
CityChangsha
Period9/08/2411/08/24

Keywords

  • Actor-critic neural network
  • disturbance observer
  • neural network

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