Please use this identifier to cite or link to this item:
http://hdl.handle.net/2080/1723| Title: | Reinforcement Learning Based Adaptive Control of a Flexible Manipulator |
| Authors: | Subudhi, B D Pradhan, Santanu Kumar |
| Keywords: | Flexible Manipulator Reinforcement Learning adaptive control Time varying payload |
| Issue Date: | Dec-2010 |
| Citation: | proceedings of the National System Conference (NSC), 2010, NIT Suratkal, Mangalore, 10-12 Dec. 2010 |
| Abstract: | In this paper a new nonlinear adaptive controller using actor-critic based Reinforcement Learning (RL) is proposed to adapt the load pick-up and release operation while following a desired trajectory by the end effector for a Two- Link Flexible Manipulator (TLFM). Simulation results show that the proposed RL based adaptive control gives better trajectory tracking performance and suppression of link vibration compared to conventional adaptive controllers with time varying payload. |
| Description: | Copyright belongs to proceeding publisher |
| URI: | http://hdl.handle.net/2080/1723 |
| Appears in Collections: | Conference Papers |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 2010_Reinforcement Learning Based Adaptive Control of a Flexible Manipulator.pdf | 428.04 kB | Adobe PDF | View/Open |
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