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This paper tackles the optimal tracking control problem for reconfigurable manipulators based on critic-only policy iteration (CoPI) algorithm. By system transformation, the optimal tracking control problem is transformed into an optimal regulation problem. The optimal tracking controller is composed of the desired controller and the approximate optimal feedback one. The desired controller is developed...
In this paper, a decentralized adaptive neural network sliding mode control scheme is proposed for trajectory tracking control problem of reconfigurable manipulators based on data-based modeling. This method can be implemented to reconfigurable manipulators with different configurations and degrees of freedom without modifying any control parameters. Different from the previous works, the proposed...
In this paper, a decentralized adaptive iterative learning control algorithm for reconfigurable manipulators is proposed. The dynamics of reconfigurable manipulators is represented as a set of interconnected subsystems. A local learning controller for each subsystem is constructed by a neural network learning component and a robust learning component to adaptively compensate for the unknown dynamic...
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