Event-trigger-based approximate optimal control of modular robot manipulators using zero-sum game

被引：0
|
作者：
Dong, Bo [1 ]
Chen, Jingchen [1 ]
Pan, Qiang [1 ]
An, Tianjiao [1 ]
机构：
[1] Department of Control Science and Engineering, Changchun University of Technology, Changchun, China
来源：
Optimal Control Applications and Methods | 1600年 / 43卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Equations of state - Flexible manipulators - Industrial robots - Game theory - Robot applications;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An event-triggered-based approximate optimal control is developed for modular robot manipulators (MRMs) using zero-sum game strategy. By utilizing the joint torque feedback method, robotic systems' dynamic model is formulated and state space equation is derived. According to event-triggered mechanism and neural network algorithm, the tracking control issue is converted to a zero-sum game optimal control issue. The optimal control policy and worst disturbance policy are acquired by Hamilton–Jacobi–Isaacs function respectively. The MRM system's tracking error is ultimately uniformly bounded. Finally, experiments demonstrate advantages of the method. © 2022 John Wiley & Sons Ltd.
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收藏
页码：1328 / 1342
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