@inproceedings{1d2e03f9d9fd4b5a9b2e8f64f13584e6,
title = "Observer-Based Adaptive Dynamic Programming for Tracking Control of Haptic Manipulator",
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{\textquoteright}s disturbance estimation is accurate, and the control scheme has excellent tracking performance and robustness.",
keywords = "Actor-critic neural network, disturbance observer, neural network",
author = "Junhui Liu and Xiaolong Duan and Hanlin Dong and Zhiqiang Ma",
note = "Publisher Copyright: {\textcopyright} 2025 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2244-3_50",
language = "英语",
isbn = "9789819622436",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "521--530",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 12",
}