An online model-free adaptive learning control solution for robotic arms

This paper focuses on the online control of a class of nonlinear dynamical systems, specifically robotic manipulators. Solutions utilizing Proportional-Integral-Derivative (PID) control schemes are employed to control the joints of robotic manipulators. However, the existing control strategies utilize fixed gains, which do not fully account for the inherent nonlinearity of the dynamical structure or the dynamics of reference-tracking error. Additionally, the individual joint's dynamic performance is optimized independently from the performance of other joints. This work introduces an adaptive integral Reinforcement Learning algorithm to control a four-DoF robotic arm in real time. This is done using a model-free Value Iteration process implemented in a continuous-time mode. The solution does not assume any knowledge of the dynamics of the robot arm and does not require any initial admissible control strategy to proceed with the adaptive learning solution. The self-learning algorithm provides adaptable strategies to control the turntable, forearm, bicep, and wrist joints of the robotic arm. The performance of the adaptive learning solution is compared with those of Proportional-Integral-Derivative and high-order model-free adaptive control schemes to highlight its effectiveness.