A behavior-based intelligent controller for a 2-dof manipulator - Details

Author：

Ye, Jian (Ye, Jian.) | Qiao, Jun-Fei (Qiao, Jun-Fei.) (Scholars：乔俊飞) | Li, Ming-Ai (Li, Ming-Ai.) (Scholars：李明爱) | Ruan, Xiao-Gang (Ruan, Xiao-Gang.)

Indexed by：

EI Scopus PKU CSCD

Abstract：

The　behavior-based　method　is　more　robust　and　better　in　real-time　performance　than　the　traditional　method　for　the　robot　control　in　the　unknown　environment.　A　behavior-based　intelligent　controller　is　designed　for　the　control　of　a　2-dof　manipulator　in　this　paper.　The　intelligent　controller　(IC)　is　based　on　the　critic-action　model　and　takes　the　reinforcement　learning　algorithm　as　the　learning　algorithm.　By　using　the　critic-action　model,　the　controller　can　learn　the　behavior　online　and　does　not　rely　on　the　system　model.　The　experiment　shows　that　the　controller　can　realize　the　continuous　control　for　the　2-dof　manipulator　and　the　manipulator　can　reach　the　target　position　quickly.

Keyword：

Robustness (control systems) Degrees of freedom (mechanics) Manipulators Reinforcement learning Intelligent control Control equipment

Author Community：

[ 1 ] [Ye, Jian]Institute of Artificial Intelligence and Robotics, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Qiao, Jun-Fei]Institute of Artificial Intelligence and Robotics, Beijing University of Technology, Beijing 100022, China
[ 3 ] [Li, Ming-Ai]Institute of Artificial Intelligence and Robotics, Beijing University of Technology, Beijing 100022, China
[ 4 ] [Ruan, Xiao-Gang]Institute of Artificial Intelligence and Robotics, Beijing University of Technology, Beijing 100022, China