Optimized leader‐follower consensus control using combination of reinforcement learning and sliding mode mechanism for multiple robot manipulator system
Yanfen Song,
Zijun Li,
Bin Li
et al.
Abstract:This article is to develop an optimized leader‐follower consensus control for multiple robot manipulator system by combining sliding mode control (SMC) and reinforcement learning (RL). The SMC mechanism aims to steer both position and velocity states of multiple manipulator reaching the predefined trajectory. And the RL is designed and performed under identifier‐critic‐actor architecture for the achievement of optimized control performance. Compared to traditional optimal control, this proposed method has two … Show more
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