Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming
文献类型：期刊论文
| 作者 | Zhao, Bo1,2 ; Liu, Derong3
|
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2020-04-01 |
| 卷号 | 67期号:4页码:3054-3064 |
| 关键词 | Decentralized control Couplings Optimal control Robots Dynamic programming Artificial neural networks Trajectory Adaptive dynamic programming decentralized tracking control event-triggered mechanism modular reconfigurable robots optimal control reinforcement learning |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2019.2914571 |
| 通讯作者 | Liu, Derong(derong@gdut.edu.cn) |
| 英文摘要 | This paper develops an event-triggered decentralized tracking control (DTC) approach for modular reconfigurable robots (MRRs) by using adaptive dynamic programming. By establishing a decentralized neural network (NN) observer, which uses local input-output data and desired states of coupling subsystems, the local dynamics of MRR subsystem can be obtained. In order to obtain the DTC, the tracking error subsystem is augmented by the exosystem with the desired trajectory. Based on the event-triggered mechanism and a modified local cost function, the DTC is derived by solving the local Hamilton-Jacobi-Bellman equation via a local critic NN with asymptotically stable structure. The stability of the entire closed-loop MRR system is analyzed by Lyapunovs direct method. The simulation of a two-degree of freedom MRR system ensures that the developed event-triggered DTC scheme is effective. |
| WOS关键词 | COOPERATIVE CONTROL ; SYSTEMS ; MANIPULATORS ; DESIGN |
| 资助项目 | National Natural Science Foundation of China[61603387] ; National Natural Science Foundation of China[61773075] ; National Natural Science Foundation of China[61533017] ; National Natural Science Foundation of China[U1501251] ; Early Career Development Award of SKLMCCS[20180201] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000507307000053 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Early Career Development Award of SKLMCCS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29499]  |
| 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 | Liu, Derong |
| 作者单位 | 1.Beijing Normal Univ, Sch Syst Sci, Beijing 100875, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhao, Bo,Liu, Derong. Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(4):3054-3064. |
| APA | Zhao, Bo,&Liu, Derong.(2020).Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(4),3054-3064. |
| MLA | Zhao, Bo,et al."Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.4(2020):3054-3064. |
入库方式： OAI收割
来源：自动化研究所
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