Cart (Loading....) | Create Account
Close category search window
 

A Novel Fuzzy Reinforcement Learning Approach in Two-Level Intelligent Control of 3-DOF Robot Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Sadati, N. ; Dept. of Electr. Eng., Sharif Univ. of Technol., Tehran ; Emamzadeh, M.M.

In this paper, a fuzzy coordination method based on interaction prediction principle (IPP) and reinforcement learning is presented for the optimal control of robot manipulators with three degrees-of-freedom. For this purpose, the robot manipulator is considered as a two-level large-scale system where in the first level, the robot manipulator is decomposed into several subsystems. In the second level, a fuzzy interaction prediction system is introduced for coordination of the overall system where a critic vector is also used for evaluating its performance. The simulation results on using the proposed novel approach, for optimal control of robot manipulators show its effectiveness and superiority in comparison with the centralized optimization methods

Published in:

Approximate Dynamic Programming and Reinforcement Learning, 2007. ADPRL 2007. IEEE International Symposium on

Date of Conference:

1-5 April 2007

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.