CASIA OpenIR
Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification
Dong, Bo1,2; An, Tianjiao1; Zhou, Fan1; Liu, Keping1; Li, Yuanchun1
Source PublicationNONLINEAR DYNAMICS
ISSN0924-090X
2019-07-01
Volume97Issue:1Pages:503-524
Corresponding AuthorLi, Yuanchun(liyc@ccut.edu.cn)
AbstractThis paper presents a decentralized robust zero-sum optimal control approach for modular robot manipulators (MRMs) in contact with uncertain environments based on the adaptive dynamic programming (ADP) algorithm. The dynamic model of MRMs is formulated via joint torque feedback technique that is deployed for each joint module to design the model compensation controller. An uncertainty decomposition-based robust control is developed to compensate the model uncertainties, and then, the robust optimal control problem of the MRM system is transformed into a two-player zero-sum optimal control one. According to the ADP algorithm, the Hamilton-Jacobi-Isaacs equation can be solved by establishing action and critic neural networks, thus making the derivation of the approximate optimal control policy feasible. Based on the Lyapunov theory, the closed-loop robotic system is proved to be asymptotic stable under the developed decentralized control method. Finally, experiments are conducted to verify the effectiveness and advantages of the proposed method.
KeywordModular robot manipulators Adaptive dynamic programming Decentralized control Optimal control Zero-sum game
DOI10.1007/s11071-019-04994-8
WOS KeywordNONLINEAR-SYSTEMS ; POLICY ITERATION ; TORQUE SENSOR ; STABILIZATION ; COMPENSATION ; CONVERGENCE ; POSITION ; NETWORK ; DESIGN ; INPUT
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61374051] ; National Natural Science Foundation of China[61773075] ; National Natural Science Foundation of China[61703055] ; Scientific Technological Development Plan Project in Jilin Province of China[20170204067GX] ; Scientific Technological Development Plan Project in Jilin Province of China[20160520013JH] ; Scientific Technological Development Plan Project in Jilin Province of China[2016041403-3GH] ; Science and Technology Project of Jilin Provincial Education Department of China[JJKH20170569KJ]
Funding OrganizationNational Natural Science Foundation of China ; Scientific Technological Development Plan Project in Jilin Province of China ; Science and Technology Project of Jilin Provincial Education Department of China
WOS Research AreaEngineering ; Mechanics
WOS SubjectEngineering, Mechanical ; Mechanics
WOS IDWOS:000473520700031
PublisherSPRINGER
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/26865
Collection中国科学院自动化研究所
Corresponding AuthorLi, Yuanchun
Affiliation1.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, 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
Dong, Bo,An, Tianjiao,Zhou, Fan,et al. Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification[J]. NONLINEAR DYNAMICS,2019,97(1):503-524.
APA Dong, Bo,An, Tianjiao,Zhou, Fan,Liu, Keping,&Li, Yuanchun.(2019).Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification.NONLINEAR DYNAMICS,97(1),503-524.
MLA Dong, Bo,et al."Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification".NONLINEAR DYNAMICS 97.1(2019):503-524.
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