Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-27
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
The higher goal of rehabilitation robot is to aid a person to achieve a desired functional task (e.g., tracking trajectory) based on assisted-as-needed principle.
To this goal, a new adaptive inverse optimal hybrid control (AHC) combining inverse optimal control and actor-critic learning is proposed.
Specifically, an uncertain nonlinear rehabilitation robot model is firstly developed that includes human motor behavior dynamics.
Then, based on this model, an open-loop error system is formed; thereafter, an inverse optimal control input is designed to minimize the cost functional and a NN-based actor-critic feedforward signal is responsible for the nonlinear dynamic part contaminated by uncertainties.
Finally, the AHC controller is proven (through a Lyapunov-based stability analysis) to yield a global uniformly ultimately bounded stability result, and the resulting cost functional is meaningful.
Simulation and experiment on rehabilitation robot demonstrate the effectiveness of the proposed control scheme.
American Psychological Association (APA)
Meng, Fancheng& Yaping, Dai. 2014. Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1044146
Modern Language Association (MLA)
Meng, Fancheng& Yaping, Dai. Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm. Mathematical Problems in Engineering No. 2014 (2014), pp.1-15.
https://search.emarefa.net/detail/BIM-1044146
American Medical Association (AMA)
Meng, Fancheng& Yaping, Dai. Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-15.
https://search.emarefa.net/detail/BIM-1044146
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1044146