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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
Appears in Collections:Conference Papers

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