A dual quaternion linear-quadratic optimal controller for trajectory tracking
MM Marinho, LFC Figueredo… - 2015 IEEE/RSJ …, 2015 - ieeexplore.ieee.org
This work addresses the task-space design problem of a linear-quadratic optimal tracking
controller for robotic manipulators using the unit dual quaternion formalism. The efficiency …
controller for robotic manipulators using the unit dual quaternion formalism. The efficiency …
Near-optimal controller for nonlinear continuous-time systems with unknown dynamics using policy iteration
S Dutta, PK Patchaikani… - IEEE transactions on …, 2015 - ieeexplore.ieee.org
This paper presents a single-network adaptive critic-based controller for continuous-time
systems with unknown dynamics in a policy iteration (PI) framework. It is assumed that the …
systems with unknown dynamics in a policy iteration (PI) framework. It is assumed that the …
Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications
Realistic manipulation tasks involve a prolonged sequence of motor skills in varying control
environments consisting of uncertain robot dynamic models and end-effector payloads. To …
environments consisting of uncertain robot dynamic models and end-effector payloads. To …
Near-optimal control of serial manipulator with unknown dynamic model
In this work, a near optimal control approach for serial manipulator with unknown dynamics
is proposed. It is shown that a near optimal controller can be designed without solving the …
is proposed. It is shown that a near optimal controller can be designed without solving the …
SNAC based near-optimal controller for robotic manipulator with unknown dynamics
A near optimal control technique for robotic manipulator with completely unknown dynamics
is described in this work. Obtaining the optimal control law u* depends on solving Hamilton …
is described in this work. Obtaining the optimal control law u* depends on solving Hamilton …