Abstract
AbstractIn this paper, we propose an online adaptive tracking control strategy for continuum robots by using integral reinforcement learning (IRL). Based on the assumption of piecewise constant curvature (PCC), a dynamic model formed of Euler-Lagrange equation is established and auxiliary tracking error function is defined. An actor/critic structure is introduced to learn the approximate solution to the HJB equation without requiring the explicit knowledge of the dynamic model. Lyapunov stability theory is used to show the asymptotic stability of the closed-loop system. A simulation result is given to demonstrate the effectiveness of the proposed control strategy.KeywordsContinuum robotsDynamic modellingOptimal controlIntegral reinforcement learningActor/Critic structure
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