Open access
Aug 2026
Actor–Critic Predefined-Time Adaptive Tracking Control for Partially Unknown Euler–Lagrange Systems
Comparative simulations on a 2-DOF planar manipulator demonstrate that the proposed method provides faster convergence and improved steady-state tracking accuracy than both a PID baseline and a classical Slotine–Li adaptive baseline, while respecting the predefined-time bound.
Tao Wang, Yuan Sun, Yong Qin et al.
· Machines · 0 citations