Zero-sum game-based neuro-optimal control of modular robot manipulators with uncertain disturbance using critic only policy iteration
| Autor: | Yuanchun Li, Xinye Zhu, Tianjiao An, Keping Liu, Bo Dong |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science business.industry Cognitive Neuroscience 02 engineering and technology Modular design Optimal control Computer Science Applications Computer Science::Robotics Dynamic programming symbols.namesake 020901 industrial engineering & automation Zero-sum game Artificial Intelligence Control theory Differential game 0202 electrical engineering electronic engineering information engineering Trajectory symbols 020201 artificial intelligence & image processing State observer business |
| Zdroj: | Neurocomputing. 450:183-196 |
| ISSN: | 0925-2312 |
| Popis: | In this paper, a zero-sum differential game strategy-based neuro-optimal control method is presented via critic only policy iteration-adaptive dynamic programming (COPI-ADP) approach to address optimal trajectory tracking control problem of modular robot manipulators (MRMs) with uncertain disturbance. The dynamic model of modular robot manipulator systems is formulated as an integration of joint subsystems and unknown robotic model uncertainties are identified by the developed linear extension state observer. Then, the optimal control issue of the modular robot manipulator systems with uncertain disturbance is transformed into a two-player zero-sum differential game one. Based on adaptive dynamic programming and policy iteration algorithms, the Hamilton-Jacobi-Issacs (HJI) equation is approximately solved using only critic neural network and thus facilitating the feasible derivation of the approximated optimal control policy. The trajectory of tracking errors of modular robot manipulator system is guaranteed to be uniform ultimate bounded by using the Lyapunov theory. Finally, experiments are provided to demonstrate the advantage and effectiveness of the developed control method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect