Optimal Tracking Control For A Two-link Robotic Manipulator Via Adaptive Dynamic Programming

摘要

An optimal tracking control strategy for a two-link robotic manipulator by using adaptive dynamic programming is investigated in this paper. Generally, system transformation is required when applying adaptive dynamic programming (ADP) technique to solve the issue of output tracking control design, which increases the difficulty and complexity in designing optimal output tracker. In order to overcome such obstacle, a novel designed cost function is employed such that the process of control design is simplified. Meanwhile, the optimal controller concerning the controlled system is obtained. The investigated novel optimal control strategy is conducted on a two-link manipulator control system, and simulation results prove that the presented scheme is efficient and feasible.