Reinforcement learning-based fixed-time trajectory tracking control for uncertain robotic manipulators with input saturation
Open accessAbstract
A fixed-time trajectory tracking control method for uncertain robotic manipulators with input saturation based on reinforcement learning (RL) is studied. The designed RL control algorithm is implemented by a radial basis function (RBF) neural network (NN), in which the actor NN is used to generate the control strategy and the critic NN is used to evaluate the execution cost. A new nonsingular fast terminal sliding mode technique is used to ensure the convergence of tracking error in fixed time, and the upper bound of convergence time is estimated. To solve the saturation problem of an actuator, a nonlinear antiwindup compensator is designed to compensate for the saturation effect of the joint torque actuator in real time. Finally, the stability of the closed-loop system based on the Lyapunov candidate is analyzed, and the timing convergence of the closed-loop system is proven. Simulation and experimental results show the effectiveness and superiority of the proposed control law.
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A continuous function can be represented by a neural network with ideal weight vector, activation function, and approximation error based on universal approximation capability.
“Based on the universal approximation capability of neural networks, a continuous function N ( X ) can be represented in the form:”
From Predefined-Time Tracking Control of Servo Hydraulic Cylinder Based on Reinforcement Learning (2025) · cites this paper as [28]
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Predefined-Time Tracking Control of Servo Hydraulic Cylinder Based on Reinforcement Learning
Han, T., Nie, X., Que, N., Lu, J., Yao, J., & Yu, X. (2025) · Actuators · doi:10.3390/act15010009 · Cited by 1 · see citing works
- Authors
- Cao, S., Sun, L., Jiang, J., & Zuo, Z.
- Affiliations
- University of Science and Technology Beijing (CN)
- Loughborough University (GB)
- Beihang University (CN)
- Venue
- IEEE Transactions on Neural Networks and Learning Systems
- Published
- 2023-08
- Volume
- 34
- Issue
- 8
- Pages
- 4584-4595
- ISSN
- 2162-237X (ISSN-L)
- 2162-2388
- OpenAlex
- W3207351513
- Cited by
- 221
- References
- 39
- Citations by year
- 2026: 52 · 2025: 84 · 2024: 46 · 2023: 26 · 2022: 12 · 2021: 1
- FWCI
- 9.45
- Type
- journal article
- Language
- en
- Open access
- green
- figshare.com
- Licence
- Locations
- IEEE Transactions on Neural Networks and Learning Systems (publishedVersion)
- PubMed (publishedVersion)
- Figshare (submittedVersion, cc-by)
- Funders
- National Natural Science Foundation of China (61903025, 62073019)
- China Scholarship Council (201906465028)
- Fundamental Research Funds for the Central Universities (FRF-BD-19-002A)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Physical Sciences › Computer Science › Computational Theory and Mathematics › Adaptive Dynamic Programming Control
- Physical Sciences › Engineering › Control and Systems Engineering › Iterative Learning Control Systems
- Keywords
- robot manipulators, input saturation, actuator saturation, nonsingular fast terminal sliding mode, radial basis function neural network, actor-critic reinforcement learning, uncertain systems, Lyapunov stability
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