Critic Only Policy Iteration-based Zero-sum Neuro-optimal Control of Modular and Reconfigurable Robots with uncertain disturbance via Adaptive Dynamic Programming
| Autor: | Keping Liu, Xinye Zhu, Tianjiao An, Yuanchun Li, Jingchen Chen, Bo Dong |
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| Rok vydání: | 2020 |
| Předmět: |
Lyapunov function
Scheme (programming language) 0209 industrial biotechnology Artificial neural network business.industry Computer science Control (management) 02 engineering and technology Modular design Optimal control 01 natural sciences Dynamic programming symbols.namesake 020901 industrial engineering & automation Control theory 0103 physical sciences symbols Robot business 010301 acoustics computer computer.programming_language |
| Zdroj: | ICACI |
| Popis: | A critic only policy iteration (COPI) scheme-based zero-sum neuro-optimal control method has been presented via adaptive dynamic programming (ADP) to address optimal trajectory velocity and tracking control of modular and reconfigurable robots (MRRs) problem. Based on policy iteration (PI) and ADP method, Hamilton-Jacobi-Issacs (HJI) equation is addressed by using only critic neural network (NN). The approximated optimal control can be obtained. Closed-loop system is proved to be asymptotic stable according to the Lyapunov theory. At last, simulations are demonstrated to show effectiveness of method. |
| Databáze: | OpenAIRE |
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