This paper introduces an optimal tracking controller for robot manipulators with asymmetrically saturated torques and partially - unknown dynamics based on a reinforcement learning method using neural network. Firstly, the feedforward control inputs are designed backstepping technique to convert problem into problem. Secondly, cost function of system input is defined, constrained Hamilton-Jacob...

Abstract In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation physical human–robot (pHRI). Different from traditional scheme that depends on biological signal and centralized method, implemented using only position measurements each joint module in investigation. Based harmon...

This paper considers the power capture control problem of variable-speed wind turbine (VSWT) systems with flexible shaft. The objective is to optimize energy by tracking desired output. A novel command filter based adaptive signal feedback (PSF) method proposed design PSF controller for non-affine nonlinear VSWT a two-mass model which parameters are totally unknown. compensation dynamic adaptab...

This paper addresses the adaptive inverse optimal output regulation problem for a class of uncertain nonlinear systems driven by an exosystem. The unknown parameters, internal disturbances, and unmeasured states are contained in system. Firstly, is decomposed into feedforward control design which can be solved model based on theory, stabilization problem. Then auxiliary system designed, new sta...

In this paper, an event-triggered Reinforcement Learning (RL) method is proposed for the optimal attitude consensus of multiple rigid body networks with unknown dynamics. Firstly, error constructed through According to Bellman optimality principle, implicit form controller and corresponding Hamilton-Jacobi-Bellman (HJB) equations are obtained. Because augmented system, can be obtained directly ...

This article is concerned with the ultimately bounded filtering problem for a class of linear time-delay systems subject to norm-bounded disturbances and impulsive measurement outliers (IMOs). The considered IMOs are modeled by sequence signals certain known minimum norm (i.e., norms all signals). In order characterize occasional occurrence IMOs, independent identically distributed random varia...

In this paper, an indirect adaptive fuzzy control scheme is presented for a class of multiinput andmulti-output (MIMO) nonlinear systemswhose dynamics are poorly understood. Within this scheme, fuzzy systems are employed to approximate the plant’s unknown dynamics. In order to overcome the controller singularity problem, the estimated gain matrix is decomposed into theproduct of onediagonalmatr...