Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming
文献类型：期刊论文
| 作者 | Dong, Bo1,2 ; Zhou, Fan2; Liu, Keping2; Li, Yuanchun2
|
| 刊名 | NEURAL COMPUTING & APPLICATIONS
 |
| 出版日期 | 2020-04-01 |
| 卷号 | 32期号:8页码:3441-3458 |
| 关键词 | Modular robot manipulator Decentralized control Adaptive dynamic programming Optimal control Neural network Interconnected dynamic coupling |
| ISSN号 | 0941-0643 |
| DOI | 10.1007/s00521-018-3714-8 |
| 通讯作者 | Li, Yuanchun(liye@ccut.edu.cn) |
| 英文摘要 | This paper presents a decentralized robust optimal control method for modular robot manipulators (MRMs) via a critic-identifier structure-based adaptive dynamic programming (ADP) scheme. The robust control problem of MRMs is transformed into an optimal compensation control issue, which consists of model-based compensation control, identifier-based learning control and ADP-based optimal control. The dynamic model of MRMs is deployed for each joint module where the local dynamic information is utilized to design the model compensation controller. A neural network (NN) identifier is established to approximate the interconnected dynamic coupling. Based on ADP and local online policy iteration algorithm, the Hamiltonian-Jacobi-Bellman equation is solved by constructing a critic NN, and then the approximate optimal control policy derivation is possible. The closed-loop robotic system is asymptotic stable by the implementation of a set of developed decentralized control policies. Simulations are presented to demonstrate the effectiveness of the proposed method. |
| WOS关键词 | NONLINEAR INTERCONNECTED SYSTEMS ; REINFORCEMENT LEARNING CONTROL ; FAULT-TOLERANT CONTROL ; POLICY ITERATION ; TRACKING CONTROL ; HJB SOLUTION ; DESIGN |
| WOS研究方向 | Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000524416400031 |
| 出版者 | SPRINGER LONDON LTD |
| 源URL | [http://ir.ia.ac.cn/handle/173211/38827]  |
| 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.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, Peoples R China |
| 推荐引用方式 GB/T 7714 | Dong, Bo,Zhou, Fan,Liu, Keping,et al. Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming[J]. NEURAL COMPUTING & APPLICATIONS,2020,32(8):3441-3458. |
| APA | Dong, Bo,Zhou, Fan,Liu, Keping,&Li, Yuanchun.(2020).Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming.NEURAL COMPUTING & APPLICATIONS,32(8),3441-3458. |
| MLA | Dong, Bo,et al."Decentralized robust optimal control for modular robot manipulators via critic-identifier structure-based adaptive dynamic programming".NEURAL COMPUTING & APPLICATIONS 32.8(2020):3441-3458. |
入库方式： OAI收割
来源：自动化研究所
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