Dual-Loop Optimal Control of a Robot Manipulator and Its Application in Warehouse Automation.
Ravi PrakashLaxmidhar BeheraSanthakumar MohanSarangapani JagannathanPublished in: IEEE Trans Autom. Sci. Eng. (2022)
Keyphrases
- optimal control
- robot manipulators
- control strategy
- control scheme
- control of robot manipulators
- force control
- dynamic programming
- control problems
- inverse kinematics
- feedback control
- dynamic model
- control law
- infinite horizon
- optimal control problems
- fuzzy neural network
- end effector
- lyapunov function
- primal dual
- pid controller
- control algorithm
- mathematical model
- reinforcement learning
- sliding mode
- real time
- convergence rate
- control system
- tracking error
- linear quadratic
- neural network