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Updated: Jan 13, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

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适应性非单元快速终端滑动模式轨迹跟踪控制机器人操纵器的新配置基于TD3深度强化学习和非线性干扰观察者

Huaqiang You1, Yanjun Liu1,2, Zhenjie Shi1

  • 1School of Mechanical Engineering, State Key Laboratory of Advanced Equipment and Technology for Metal Forming, Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of Ministry of Education, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan 250061, China.

Sensors (Basel, Switzerland)
|January 10, 2026
PubMed
概括

本研究介绍了一种非单元快速终端滑动模式控制 (NFTSMC) 策略,增强了双延迟深确定性政策梯度 (TD3) 和非线性干扰观察器 (NDO). TD3-NFTSMC方法显著提高了机器人操纵器轨迹跟踪精度和对抗干扰的稳定性.

关键词:
双胞胎延迟深度决定性政策梯度算法不单一的快速终端滑动模式控制非线性干扰观察员的观察者.机器人操纵器是一个机器人操纵器.轨道跟踪控制器的轨道跟踪控制器

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