Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators
Zhao, Bo1; Li, Yuanchun2
2018-04-01
发表期刊INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷号16期号:2页码:478-490
文章类型Article
摘要In this paper, a model-free near-optimal decentralized tracking control (DTC) scheme is developed for reconfigurable manipulators via adaptive dynamic programming algorithm. The proposed controller can be divided into two parts, namely local desired controller and local tracking error controller. In order to remove the normboundedness assumption of interconnections, desired states of coupled subsystems are employed to substitute their actual states. Using the local input/output data, the unknown subsystem dynamics of reconfigurable manipulators can be identified by constructing local neural network (NN) identifiers. With the help of the identified dynamics, the local desired control can be derived directly with corresponding desired states. Then, for tracking error subsystems, the local tracking error control is investigated by the approximate improved local cost function via local critic NN and the identified input gain matrix. To overcome the overall error caused by the substitution, identification and critic NN approximation, a robust compensation is added to construct the improved local cost function that reflects the overall error, regulation and control simultaneously. Therefore, the closed-loop tracking system can be guaranteed to be asymptotically stable via Lyapunov stability theorem. Two 2-degree of freedom reconfigurable manipulators with different configurations are employed to demonstrate the effectiveness of the proposed model-free near-optimal DTC scheme.
关键词Adaptive Dynamic Programming Decentralized Tracking Control Model-free Near-optimal Neural Networks Reconfigurable Manipulators
WOS标题词Science & Technology ; Technology
DOI10.1007/s12555-016-0711-5
关键词[WOS]NONLINEAR INTERCONNECTED SYSTEMS ; MOBILE MODULAR MANIPULATORS ; FAULT-TOLERANT CONTROL ; NETWORK HJB APPROACH ; UNKNOWN DYNAMICS ; ROBOT MANIPULATORS ; TIME-SYSTEMS ; OBSERVER ; ALGORITHM ; ARMS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61603387 ; Scientific and Technological Development Plan Project in Jilin Province of China(20150520112JH ; 61773075 ; 20160414033GH) ; 61374051)
WOS研究方向Automation & Control Systems
WOS类目Automation & Control Systems
WOS记录号WOS:000429572000007
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/22017
专题复杂系统管理与控制国家重点实验室_平行控制
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China
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Zhao, Bo,Li, Yuanchun. Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2018,16(2):478-490.
APA Zhao, Bo,&Li, Yuanchun.(2018).Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,16(2),478-490.
MLA Zhao, Bo,et al."Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 16.2(2018):478-490.
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