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Event-triggered control has been an effective tool in dealing with problems with finite communication and computation resources. In this paper, we design an event-triggered control for nonlinear constrained-input continuous-time systems based on the optimal policy. Constraints on controls are handled using a bounded function. To learn the optimal solution with partially unknown dynamics, an online...
To solve the level-adjusting and force-tuning problems of high accurate and costly payloads when loading and unloading, a cable-driven auto-leveling parallel robot is developed. A hierarchical fuzzy controller, which has the ability to deal with the rule explosion problem, is proposed in this paper. After a brief introduction of the architecture of the closed-loop control system for the cable-driven...
In traditional adaptive dynamic programming (ADP), only one step estimate is considered for training process, Thus, learning efficiency is lower. If more steps estimates are included, learning process will be speed up. Eligibility traces record the past and current gradients of estimation. It can be used to work with ADP for speeding up learning. In this paper, heuristic dynamic programming (HDP)...
To swing up a Pendubot, a pendulum robot, this paper presents a hierarchical sliding mode controller with limited control torque. The structure characteristic of the Pendubot system is that it can be treated as two subsystems. Thus, the hierarchical structure of the sliding mode surfaces is designed as follows. The sliding mode surfaces of the two subsystems are defined at first. The sliding mode...
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