Observer-based model-free controller for the perturbations estimation and attenuation in robotic plants.
José de Jesús RubioMario Alberto HernandezEduardo OrozcoDaniel Andrés CórdovaAlejandro ZacariasJaime PachecoPublished in: Robotics Auton. Syst. (2024)
Keyphrases
- model free
- impedance control
- reinforcement learning
- function approximation
- manipulation tasks
- real time
- robotic manipulator
- temporal difference
- reinforcement learning algorithms
- closed loop
- control system
- policy iteration
- optimal control
- neural network
- visual servoing
- robotic systems
- mobile robot
- control scheme
- control algorithm
- control architecture
- text categorization
- average reward
- least squares
- policy evaluation
- dynamic programming