Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions

doi:10.1109/ACCESS.2019.2927511

	Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions
	Dong, Bo1,2 ; An, Tianjiao 1; Zhou, Fan 1; Liu, Keping 1; Yu, Weibo 1; Li, Yuanchun 1
发表期刊	IEEE ACCESS
ISSN	2169-3536
	2019
卷号	7 页码:96148-96165
通讯作者	Li, Yuanchun(liyc@ccut.edu.cn)
摘要	This 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.
关键词	Adaptive dynamic programming collision identification decentralized optimal control modular robot manipulators zero-sum game
DOI	10.1109/ACCESS.2019.2927511
关键词[WOS]	NONLINEAR-SYSTEMS ; ROBUST-CONTROL ; POLICY ITERATION ; TORQUE ; JOINT ; STABILIZATION ; POSITION ; DESIGN
收录类别	SCI
语种	英语
资助项目	Project of Engineering Laboratory of Intelligent Robot and Vision Measurement and Control Technology in Jilin Province[2019C010] ; Scientific Technological Development Plan Project in Jilin Province of China[20160414033GH] ; Scientific Technological Development Plan Project in Jilin Province of China[20160520013JH] ; Scientific Technological Development Plan Project in Jilin Province of China[20170204067GX] ; Scientific Technological Development Plan Project in Jilin Province of China[20190103004JH] ; National Natural Science Foundation of China[61703055] ; National Natural Science Foundation of China[61773075] ; National 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]
项目资助者	National 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研究方向	Computer Science ; Engineering ; Telecommunications
WOS类目	Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS记录号	WOS:000478961900059
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：12[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/173211/27595
专题	复杂系统管理与控制国家重点实验室
通讯作者	Li, Yuanchun
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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.