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Simulation And Research Of Manipulator Motion Strategy Based On Adaptive Dynamic Programming, Ming Li, Qun Xu, Yan Wang, Zhicheng Ji
Simulation And Research Of Manipulator Motion Strategy Based On Adaptive Dynamic Programming, Ming Li, Qun Xu, Yan Wang, Zhicheng Ji
Journal of System Simulation
Abstract: Aiming at the difficulty of manipulator to realize high-precision motion tracking in complex and harsh environment, a strategy method based on the combination of adaptive dynamic programming (ADP) and sliding mode admittance control is proposed. The unknown environment is modeled as a linear model and based on quasi, a sliding mode admittance controller is derived to resist disturbance interference. An optimal control method that combines ADP with sliding mode admittance controller is proposed, in which the definition of R-matrix in value function is optimized and improved to further improve the tracking accuracy. The neural network based on ADP is …