Fuzzy reinforcement learning control for compliance tasks of robotic manipulators

Tzafestas, SG; Rigatos, GG

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Rigatos, GG	en
dc.date.accessioned	2014-03-01T11:44:30Z
dc.date.available	2014-03-01T11:44:30Z
dc.date.issued	2002	en
dc.identifier.issn	1083-4419	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/36986
dc.subject	Deburring	en
dc.subject	Fuzzy reinforcement learning	en
dc.subject	Hybrid hierarchical control	en
dc.subject	Impedance control	en
dc.subject	Sliding-mode fuzzy control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Computer Science, Cybernetics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Functions	en
dc.subject.other	Fuzzy sets	en
dc.subject.other	Learning systems	en
dc.subject.other	Manipulators	en
dc.subject.other	Optimal control systems	en
dc.subject.other	Sliding mode control	en
dc.subject.other	Compliance tasks	en
dc.subject.other	Fuzzy reinforcement learning control	en
dc.subject.other	Hybrid hierarchical control	en
dc.subject.other	Impedance control	en
dc.subject.other	Fuzzy control	en
dc.title	Fuzzy reinforcement learning control for compliance tasks of robotic manipulators	en
heal.type	other	en
heal.identifier.primary	10.1109/3477.979965	en
heal.identifier.secondary	http://dx.doi.org/10.1109/3477.979965	en
heal.language	English	en
heal.publicationDate	2002	en
heal.abstract	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.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics	en
dc.identifier.doi	10.1109/3477.979965	en
dc.identifier.isi	ISI:000173461200013	en
dc.identifier.volume	32	en
dc.identifier.issue	1	en
dc.identifier.spage	107	en
dc.identifier.epage	113	en