Adaptive Proportional Integral Robust Control of an Uncertain Robotic Manipulator Based on Deep Deterministic Policy Gradient

Adaptive Proportional Integral Robust Control of an Uncertain Robotic Manipulator Based on Deep Deterministic Policy Gradient

An adaptive proportional integral robust (PIR) control method based on deep deterministic policy gradient (DDPGPIR) is proposed for n-link robotic manipulator systems with model uncertainty and time-varying external disturbances. In this paper, the uncertainty of the nonlinear dynamic model, time-va...

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Bibliographic Details
Main Authors: Puwei Lu, Wenkai Huang, Junlong Xiao, Fobao Zhou, Wei Hu
Format: Article
Language:English
Published: MDPI AG 2021-08-01
Series:Mathematics
Subjects:
n-link robot
deep deterministic policy gradient
adaptive control
proportional integral robust control
reward function
Online Access:https://www.mdpi.com/2227-7390/9/17/2055

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