聊城大学学报（自然科学版）2026，Vol.39Issue(2)：183-191,9.DOI:10.19728/j.issn1672-6634.2025070001
单连杆柔性关节机械臂系统的优化反步跟踪控制
Optimized backstepping tracking control for a single-link flexible joint robotic arm system
摘要
Abstract
In this paper,an optimized backstepping tracking control method based on a reinforcement learning strategy is proposed for a single-link flexible-joint robotic arm system.Firstly,the actor-critic ar-chitecture is employed at each backstepping step to implement the reinforcement learning strategy,thereby obtaining the optimal virtual controller for each subsystem and ultimately deriving the system's optimal controller.Then,based on the defined Lyapunov function,it is demonstrated that all signals of the single-link flexible-joint robotic arm system are bounded,proving the stability of the designed control method.Finally,simulation experiments verify the effectiveness of the optimized backstepping tracking control based on reinforcement learning strategy in a single-link flexible-joint robotic arm system.关键词
强化学习/单连杆柔性关节机械臂/稳定性分析Key words
reinforcement learning/single-link flexible-joint robotic arm/stability analysis分类
信息技术与安全科学引用本文复制引用
李熙,孙伟,殷县龙..单连杆柔性关节机械臂系统的优化反步跟踪控制[J].聊城大学学报（自然科学版）,2026,39(2):183-191,9.基金项目
国家自然科学基金重点项目(62473185),山东省自然科学基金优秀青年项目(ZR2024YQ033)资助 （62473185）
