Adaptive dynamic programming as a theory of sensorimotor control

摘要

This paper studies the control mechanism in human arm movements from a perspective of approximate/adaptive dynamic programming (ADP). The control scheme is developed by incorporating Itô calculus with the ADP method for continuous-time stochastic linear systems. An online learning technique is presented to find a robust optimal control policy without knowing the system dynamics. Finally, the proposed method is applied to a single-joint movement control problem and is validated by computer simulations.