ADP-Based H∞ Optimal Control of Robot Manipulators With Asymmetric Input Constraints and Disturbances
Dien Nguyen Duc,
Lai Lai Khac,
Luy Nguyen Tan
Abstract:Trajectory tracking control for robot manipulators is an attractive topic in the research community. This is a challenging problem because robot manipulators are complex nonlinear systems. Furthermore, the tracking control performance for robot manipulators is greatly affected by input constraints and external disturbances. This paper proposes a novel H ∞ optimal controller for robot manipulators with asymmetric input constraints and external disturbances based on adaptive dynamic programming (ADP). Firstly, a… Show more
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