CASIA OpenIR
Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions
Dong, Bo1,2; An, Tianjiao1; Zhou, Fan1; Liu, Keping1; Yu, Weibo1; Li, Yuanchun1
Source PublicationIEEE ACCESS
ISSN2169-3536
2019
Volume7Pages:96148-96165
Corresponding AuthorLi, Yuanchun(liyc@ccut.edu.cn)
AbstractThis paper presents a decentralized zero-sum optimal control method for MRMs with environmental collisions via an actor-critic-identifier (ACI) structure-based adaptive dynamic programming (ADP) algorithm. The dynamic model of the MRMs is formulated via a novel collision identification method that is deployed for each joint module, in which the local position and torque information are used to design the model compensation controller. A neural network (NN) identifier is developed to compensate the model uncertainties and then, the optimal control problem of the MRMs with environmental collisions can be transformed into a two-player zero-sum optimal control one. Based on the ADP algorithm, the HamiltonJacobi-Isaacs (HJI) equation is solved by constructing the actor-critic NNs, 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 asymptotically stable. Finally, the experiments are conducted to verify the effectiveness and advantages of the proposed method.
KeywordAdaptive dynamic programming collision identification decentralized optimal control modular robot manipulators zero-sum game
DOI10.1109/ACCESS.2019.2927511
WOS KeywordNONLINEAR-SYSTEMS ; ROBUST-CONTROL ; POLICY ITERATION ; TORQUE ; JOINT ; STABILIZATION ; POSITION ; DESIGN
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61773075] ; National Natural Science Foundation of China[61703055] ; Scientific Technological Development Plan Project in Jilin Province of China[20190103004JH] ; 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[20160414033GH] ; Project of Engineering Laboratory of Intelligent Robot and Vision Measurement and Control Technology in Jilin Province[2019C010]
Funding OrganizationNational Natural Science Foundation of China ; Scientific Technological Development Plan Project in Jilin Province of China ; Project of Engineering Laboratory of Intelligent Robot and Vision Measurement and Control Technology in Jilin Province
WOS Research AreaComputer Science ; Engineering ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000478961900059
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/27595
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. Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions[J]. IEEE ACCESS,2019,7:96148-96165.
APA Dong, Bo,An, Tianjiao,Zhou, Fan,Liu, Keping,Yu, Weibo,&Li, Yuanchun.(2019).Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions.IEEE ACCESS,7,96148-96165.
MLA Dong, Bo,et al."Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions".IEEE ACCESS 7(2019):96148-96165.
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