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Fuzzy reinforcement learning control for compliance tasks of robotic manipulators

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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


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