Intelligent optimal control of robotic manipulators using neural networks (Q5926270)
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scientific article; zbMATH DE number 1570853
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Intelligent optimal control of robotic manipulators using neural networks |
scientific article; zbMATH DE number 1570853 |
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Intelligent optimal control of robotic manipulators using neural networks (English)
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13 May 2001
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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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automated systems
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adaptive control
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robotic systems
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Hamilton-Jacobi-Bellman equation
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algebraic Riccati equation
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optimal control
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stability
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neural network
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