Intelligent optimal control of robotic manipulators using neural networks
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The application of quadratic optimization for motion control feedback of robotic systems using neural networks is given. Explicit solutions to the Hamilton-Jacobi-Bellman equation for the optimal control of robotic systems are found by solving an algebraic Riccati equation. The relation between optimal control and stability is investigated. A neural network controller combined with the optimal control signal is proposed. The validity of the proposed control method is demonstrated through a two-link robot controller.
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Cites work
- A new adaptive law for robust adaptation without persistent excitation
- Approximation by superpositions of a sigmoidal function
- Neural networks for control systems - a survey
- Quadratic optimization of motion coordination and control
- Universal approximation bounds for superpositions of a sigmoidal function
Cited in
(26)- Dynamic optimization of redundant manipulators in worst case using recurrent neural networks
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