Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators
文献类型：期刊论文
| 作者 | Zhao, Bo1 ; Li, Yuanchun2
|
| 刊名 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
 |
| 出版日期 | 2018-04-01 |
| 卷号 | 16期号:2页码:478-490 |
| 关键词 | Adaptive Dynamic Programming Decentralized Tracking Control Model-free Near-optimal Neural Networks Reconfigurable Manipulators |
| DOI | 10.1007/s12555-016-0711-5 |
| 文献子类 | Article |
| 英文摘要 | 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. |
| WOS关键词 | NONLINEAR INTERCONNECTED SYSTEMS ; MOBILE MODULAR MANIPULATORS ; FAULT-TOLERANT CONTROL ; NETWORK HJB APPROACH ; UNKNOWN DYNAMICS ; ROBOT MANIPULATORS ; TIME-SYSTEMS ; OBSERVER ; ALGORITHM ; ARMS |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000429572000007 |
| 资助机构 | National Natural Science Foundation of China(61603387 ; Scientific and Technological Development Plan Project in Jilin Province of China(20150520112JH ; 61773075 ; 20160414033GH) ; 61374051) |
| 源URL | [http://ir.ia.ac.cn/handle/173211/22017]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队 |
| 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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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