ADP-BASED ROBUST OPTIMAL CONTROL OF ROBOT MANIPULATORS

Abstract

This article proposes a robust optimal tracking control scheme for robot
manipulators based on ADP (Adaptive Dynamic Programming). First, the
feedforward control law is designed to convert the problem of robust optimal
tracking control for the robot manipulator into a robust optimal control
problem for an affine nonlinear system. Then, the feedback control algorithm
is designed to determine the optimal control and disturbance compensation
laws. The algorithm ensures that the tracking errors are UUB (Uniformly
Ultimately Bounded) while the cost function converges to the optimal value.
Finally, the effectiveness of the proposed controller is verified through
simulation results.