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Reinforcement Learning Adaptive PID Controller for an Under-actuated Robot Arm

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Academic year: 2020

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Figure

Fig. 1. Two-DoF under-actuated manipulator. First joint is active and the second one is passive
Fig. 3.  RBF network employed for learning of actor-critic
Fig. 4. NARMA-L2 Controller
Fig. 5. Snapshots of tracking simulation
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