Approximate optimal control for Modular Robot Manipulators based on multiplayer zero-sum game
An approximate optimal control method for Modular Robot Manipulators(MRMs)systems based on multiplayer zero-sum game is proposed.A modular robot system dynamic model with Interconnected Dynamic Couplings(IDC)is developed.The control law and IDC effect are regarded as players in zero-sum game.The approximate optimal tracking control problem of the MRM system can be transformed into a multiplayer zero-sum game.According to the Adaptive Dynamic Programming(ADP)algorithm,the Hamilton-Jacobi-Issacs(HJI)equation can be solved by establishing critic neural network and then the approximate optimal control policy can be derived.Based on the Lyapunov theorem,the closed-loop robotic system is proved to be asymptotic stable.Finally,experiments are conducted to verify the effectiveness of the proposed method.
ADP(Adaptive Dynamic Programming)MRMs(Modular Robot Manipulators)multiplayer zero-sum gameoptimal control
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