Adaptive PID computed-torque control of robot manipulators based on DDPG reinforcement learning.
Akram GhediriKheireddine LamamraAbdelaziz Ait KakiSundarapandian VaidyanathanPublished in: Int. J. Model. Identif. Control. (2022)
Keyphrases
- control of robot manipulators
- robot manipulators
- control scheme
- reinforcement learning
- control algorithm
- pid controller
- dynamic model
- control system
- closed loop
- control strategy
- control method
- function approximation
- pid control
- model free
- state space
- decision making
- learning algorithm
- pi controller
- induction motor
- fuzzy control
- artificial neural networks
- real time