FINAL_VIDEO.mp4This topic focuses on applying Reinforcement Learning (RL) to tune the parameters of a Time-Delay Estimation based Sliding Mode Controller (SMC-TDE) for a robotic arm with uncertainties. After the controllers are designed, the RL algorithm is utilized to automatically search for suitable control parameters, offering a more efficient alternative to the conventional trial-and-error tuning method. Afterward, the Root Mean Square Error (RMSE) is used to evaluate the effectiveness of the parameter set obtained by RL, which is used for SMC-TDE.
Sliding Mode Control, Time-Delay Estimation, Reinforcement Learning Algorithm, Tuning Parameters, 6-DOF Manipulator
