A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities.
Yiannis KarayiannidisDimitrios PapageorgiouZoe DoulgeriPublished in: IEEE Robotics Autom. Lett. (2016)
Keyphrases
- model free
- trajectory tracking
- visual servoing
- impedance control
- reference trajectory
- reinforcement learning
- real time
- closed loop
- force control
- kinematic model
- mobile robot
- reinforcement learning algorithms
- motion control
- manipulation tasks
- robot manipulators
- control architecture
- neural network controller
- temporal difference
- control system
- function approximation
- biped walking
- dynamic model
- robotic manipulator
- tracking error
- control law
- policy iteration
- neural network
- vision system
- robot navigation
- control scheme
- particle filter
- central pattern generator
- end effector
- autonomous robots
- robot arm
- robot control
- policy evaluation
- humanoid robot
- adaptive control
- optimal control
- moving objects