Adaptive inverse optimal control for rehabilitation robot systems using actor-critic algorithm
type: Item
instance of: scholarly article
title: Adaptive inverse optimal control for rehabilitation robot systems using actor-critic algorithm
zbMATH Open document ID: 1407.93265
DOI: 10.1155/2014/285248
author: Fancheng Meng
author: Yaping Dai
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 49N35
zbMATH DE Number: 7016074
Wikidata QID: Q59065437
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/285248
OpenAlex ID: W2163823515
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description: scientific article; zbMATH DE number 7016074