Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator

Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator

This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matri...

Full description

Bibliographic Details
Main Authors: Xiaohua Wei, Jiangang Ye, Jianliang Xu, Zhiguo Tang
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Applied Sciences
Subjects:
adaptive dynamic programming
rigid–flexible manipulator
optimal control
singular perturbation theory
assumed mode method
Online Access:https://www.mdpi.com/2076-3417/13/5/2890

Internet

https://www.mdpi.com/2076-3417/13/5/2890

Similar Items