Decentralized robust zero-sum neuro-optimal control for modular robot manipulators in contact with uncertain environments: theory and experimental verification
文献类型：期刊论文
| 作者 | Dong, Bo1,2 ; An, Tianjiao1; Zhou, Fan1; Liu, Keping1; Li, Yuanchun1
|
| 刊名 | NONLINEAR DYNAMICS
 |
| 出版日期 | 2019-07-01 |
| 卷号 | 97期号:1页码:503-524 |
| 关键词 | Modular robot manipulators Adaptive dynamic programming Decentralized control Optimal control Zero-sum game |
| ISSN号 | 0924-090X |
| DOI | 10.1007/s11071-019-04994-8 |
| 通讯作者 | Li, Yuanchun(liyc@ccut.edu.cn) |
| 英文摘要 | This 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. |
| WOS关键词 | NONLINEAR-SYSTEMS ; POLICY ITERATION ; TORQUE SENSOR ; STABILIZATION ; COMPENSATION ; CONVERGENCE ; POSITION ; NETWORK ; DESIGN ; INPUT |
| 资助项目 | National 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] |
| WOS研究方向 | Engineering ; Mechanics |
| 语种 | 英语 |
| WOS记录号 | WOS:000473520700031 |
| 出版者 | SPRINGER |
| 资助机构 | National 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 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/26864]  |
| 专题 | 自动化研究所_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 |
| 推荐引用方式 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. |
入库方式： OAI收割
来源：自动化研究所
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