Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions
文献类型：期刊论文
| 作者 | Dong, Bo1,2 ; An, Tianjiao1; Zhou, Fan1; Liu, Keping1; Yu, Weibo1; Li, Yuanchun1
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| 刊名 | IEEE ACCESS
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| 出版日期 | 2019 |
| 卷号 | 7页码:96148-96165 |
| 关键词 | Adaptive dynamic programming collision identification decentralized optimal control modular robot manipulators zero-sum game |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2019.2927511 |
| 通讯作者 | Li, Yuanchun(liyc@ccut.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | NONLINEAR-SYSTEMS ; ROBUST-CONTROL ; POLICY ITERATION ; TORQUE ; JOINT ; STABILIZATION ; POSITION ; DESIGN |
| 资助项目 | 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] |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000478961900059 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | 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 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/27594]  |
| 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. 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. |
入库方式： OAI收割
来源：自动化研究所
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