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Observer-based model-free controller for the perturbations estimation and attenuation in robotic plants.
- Source :
-
Robotics & Autonomous Systems . Jul2024, Vol. 177, pN.PAG-N.PAG. 1p. - Publication Year :
- 2024
-
Abstract
- The model-free controller is a powerful method because it does not require the knowledge of the robotic plant dynamic equation. Since most of the model-free controllers consider variants of the adaptive or reinforcement learning, one observer-based model-free controller could be a different alternative of interest in the researching community. In this study, an observer-based model-free controller is suggested for the perturbations estimation and attenuation in robotic plants, it contains the model-free observer and the model-free controller. The model-free observer based on the high gain method uses the bounds of the perturbations. The model-free controller based on the sliding mode method uses the bounds of the perturbations and gravity terms. The observer-based model-free controller is applied for the perturbations estimation and attenuation in a cylindrical robotic plant, and a scalar robotic plant. [Display omitted] • Observer-based model-free controller for perturbations estimation and attenuation in robotic plants. • Observer-based model-free controller contains model-free observer and model-free controller. • Model-free observer based on high gain uses perturbations bounds. • Model-free controller based on sliding mode uses perturbations and gravity terms bounds. • Observer-based model-free controller is applied in two robotic plants. [ABSTRACT FROM AUTHOR]
- Subjects :
- *ROBOTICS
*REINFORCEMENT learning
Subjects
Details
- Language :
- English
- ISSN :
- 09218890
- Volume :
- 177
- Database :
- Academic Search Index
- Journal :
- Robotics & Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- 177317852
- Full Text :
- https://doi.org/10.1016/j.robot.2024.104713