Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions.
Bo DongTianjiao AnFan ZhouKeping LiuWeibo YuYuanchun LiPublished in: IEEE Access (2019)
Keyphrases
- optimal control
- actor critic
- robot manipulators
- dynamic programming
- control strategy
- control problems
- policy gradient
- control scheme
- infinite horizon
- reinforcement learning
- neuro fuzzy
- lyapunov function
- neural network
- sliding mode
- average cost
- dynamic model
- linear programming
- genetic algorithm
- real time
- lyapunov stability