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2023 | OriginalPaper | Chapter

Reinforcement Control for Planar Robot Based on Neural Network and Extended State Observer

Authors : Duy Nguyen Trung, Thien Nguyen Van, Hai Xuan Le, Dung Do Manh, Duy Hoang

Published in: Intelligent Systems and Networks

Publisher: Springer Nature Singapore

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Abstract

Based on the cooperation of neural network and extended state observer (ESO), in this paper, an approach for reinforcement control will be presented for Planar robot. By using the sliding surface as a state variable, the nominal system in quadratic form will be converted to first-order where the total uncertain component is estimated and remove by ESO. Then, a reinforcement algorithm will be added in collaboration to determine the nearly optimal solution of Hamilton-Jacobi-Bellman (HJB) equation. During the determination of the control signal, only one neural network is applied to reduce the computational complexity while still achieving the desired requirements. The simulation results of the algorithm will be examined on the Planar Robot with two degrees of freedom, thereby confirming the effectiveness of proposed control strategy.

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Metadata
Title
Reinforcement Control for Planar Robot Based on Neural Network and Extended State Observer
Authors
Duy Nguyen Trung
Thien Nguyen Van
Hai Xuan Le
Dung Do Manh
Duy Hoang
Copyright Year
2023
Publisher
Springer Nature Singapore
Book
Intelligent Systems and Networks

Print ISBN: 978-981-9947-24-9

Electronic ISBN: 978-981-9947-25-6

Copyright Year: 2023

DOI
https://doi.org/10.1007/978-981-99-4725-6_62

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