Simultaneous locomotion and manipulation control of quadruped robots using reinforcement learning-based adaptive fractional-order sliding-mode control.
Yousef FaridPublished in: Trans. Inst. Meas. Control (2023)
Keyphrases
- adaptive fuzzy
- feedback control
- legged robots
- inverted pendulum
- fractional order
- sliding mode control
- quadruped robot
- optimal control
- adaptive control
- reinforcement learning
- closed loop
- adaptive neural
- robot control
- control strategy
- pid controller
- sliding mode
- control method
- robotic systems
- chaotic systems
- control algorithm
- nonlinear systems
- robot manipulators
- mobile robot
- initial conditions
- simulation study
- dynamic programming
- real robot
- state space
- control system
- genetic algorithm
- fuzzy control
- control law
- control parameters
- autonomous robots
- fuzzy controller
- rough terrain
- multi robot