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An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops.(More)
This paper presents an online policy iteration (PI) algorithm to learn the continuous-time optimal control solution for unknown constrained-input systems. The proposed PI algorithm is implemented on an actor-critic structure where two neural networks (NNs) are tuned online and simultaneously to generate the optimal bounded control policy. The requirement of(More)
In most cases authors are permitted to post their version of the article (e.g. in Word or Tex form) to their personal website or institutional repository. Authors requiring further information regarding Elsevier's archiving and manuscript policies are encouraged to visit: a b s t r a c t Bilinear models can approximate a large class of nonlinear systems(More)
This paper deals with the design of an H ∞ tracking controller for nonlinear continuous-time systems with completely unknown dynamics. A general bounded L2 -gain tracking problem with a discounted performance function is introduced for the H ∞ tracking. A tracking Hamilton-Jacobi-Isaac (HJI) equation is then developed that gives a Nash equilibrium solution(More)
A hybrid algorithm by integrating an improved particle swarm optimization (IPSO) with successive quadratic programming (SQP), namely IPSO–SQP, is proposed for solving nonlinear optimal control problems. The particle swarm optimization (PSO) is showed to converge rapidly to a near optimum solution, but the search process will become very slow around global(More)