Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics

doi:10.1007/s40747-021-00367-0

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	Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics
	X. L. Ren and H. W. Li
	2021
发表期刊	Complex & Intelligent Systems
ISSN	2199-4536
卷号	15
摘要	This paper investigates a feature tracking control method for visual servoing (VS) manipulators adaptive dynamic programming (ADP)-based the unknown dynamics. The major superiority of ADP-based optimal control lies in that the visual tracking problem is converted to the feature tracking error control with optimal cost function. Moreover, an adaptive neural network observer is developed to approximate the entire uncertainties, which are utilized to construct an improved cost function. By establishing a critic neural network, the Hamilton-Jacobi-Bellman (HJB) equation is solved, and the approximate optimal error control policy is derived. The closed-loop VS manipulator system is verified to be ultimately uniformly bounded with the developed ADP-based feature tracking control strategy according to the Lyapunov theory. Finally, simulation results under various situations demonstrate that the proposed method achieves higher tracking accuracy than other methods, as well as satisfies energy optimal requirements.
DOI	10.1007/s40747-021-00367-0
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收录类别	SCI
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/65947
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	X. L. Ren and H. W. Li. Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics[J]. Complex & Intelligent Systems,2021,15.
APA	X. L. Ren and H. W. Li.(2021).Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics.Complex & Intelligent Systems,15.
MLA	X. L. Ren and H. W. Li."Adaptive dynamic programming-based feature tracking control of visual servoing manipulators with unknown dynamics".Complex & Intelligent Systems 15(2021).

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