A behavior-based intelligent controller for a 2-dof manipulator

The behavior-based method is more robust and better in real-time performance than the traditional method for the robot control in the unknown environment.A behavior-based intelligent controller is designed for the control of a 2-dof manipulator in this paper.The intelligent controller(IC)is based on the critic-action model and takes the reinforcement learning algorithm as the learning algorithm.By using the critic-action model,the controller can learn the behavior online and does not rely on the system model.The experiment shows that the controller can realize the continuous control for the 2-dof manipulator and the manipulator can reach the target position quickly.