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Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators
Zhao, Bo1; Li, Yuanchun2
Source PublicationINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
2018-04-01
Volume16Issue:2Pages:478-490
SubtypeArticle
AbstractIn 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.
KeywordAdaptive Dynamic Programming Decentralized Tracking Control Model-free Near-optimal Neural Networks Reconfigurable Manipulators
WOS HeadingsScience & Technology ; Technology
DOI10.1007/s12555-016-0711-5
WOS KeywordNONLINEAR INTERCONNECTED SYSTEMS ; MOBILE MODULAR MANIPULATORS ; FAULT-TOLERANT CONTROL ; NETWORK HJB APPROACH ; UNKNOWN DYNAMICS ; ROBOT MANIPULATORS ; TIME-SYSTEMS ; OBSERVER ; ALGORITHM ; ARMS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61603387 ; Scientific and Technological Development Plan Project in Jilin Province of China(20150520112JH ; 61773075 ; 20160414033GH) ; 61374051)
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000429572000007
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22017
Collection复杂系统管理与控制国家重点实验室_平行控制
Affiliation1.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
First Author AffilicationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
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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