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Fuzzy reinforcement learning control for compliance tasks of robotic manipulators

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2 Author(s)
S. G. Tzafestas ; Dept. of Electr. & Comput. Eng., Nat. Tech. Univ. of Athens, Greece ; G. G. Rigatos

A fuzzy reinforcement learning (FRL) scheme which is based on the principles of sliding-mode control and fuzzy logic is proposed. The FRL uses only immediate reward. Sufficient conditions for the convergence of the FRL to the optimal task performance are studied. The validity of the method is tested through simulation examples of a robot which deburrs a metal surface

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:32 ,  Issue: 1 )