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

Junhui Liu, Xiaolong Duan, Hanlin Dong, Zhiqiang Ma

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 12
编辑Liang Yan, Haibin Duan, Yimin Deng
出版商Springer Science and Business Media Deutschland GmbH
521-530
页数10
ISBN(印刷版)9789819622436
DOI
出版状态已出版 - 2025
活动International Conference on Guidance, Navigation and Control, ICGNC 2024 - Changsha, 中国
期限: 9 8月 202411 8月 2024

出版系列

姓名Lecture Notes in Electrical Engineering
1348 LNEE
ISSN(印刷版)1876-1100
ISSN(电子版)1876-1119

会议

会议International Conference on Guidance, Navigation and Control, ICGNC 2024
国家/地区中国
Changsha
时期9/08/2411/08/24

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