Adaptive optimal tracking control applied for a humanoid robot arm

@article{Hemmi2015AdaptiveOT,
  title={Adaptive optimal tracking control applied for a humanoid robot arm},
  author={David Hemmi and Guido Herrmann and Jing Na and Muhammad Nasiruddin Mahyuddin},
  journal={2015 IEEE International Symposium on Intelligent Control (ISIC)},
  year={2015},
  pages={35-40}
}
In this paper, a recently suggested adaptive online optimal control algorithm for the infinite-horizon tracking problem of continuous-time non-linear systems with partially unknown system dynamics is modified and empirically evaluated. Since we lack complete systems knowledge a parameter identifier, which works simultaneously with the updating of the online… CONTINUE READING