Multiplayer zero‐sum games optimal control for modular robot manipulators with interconnected dynamic couplings

Summary This article presents a multiplayer zero‐sum game optimal control for modular robot manipulators (MRMs) via adaptive dynamic programming (ADP). The dynamic model of MRMs with interconnected dynamic couplings (IDCs) is formulated. The control law and IDC effect are regarded as players in each...

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Bibliographic Details
Published in:International journal of adaptive control and signal processing 2022-12, Vol.36 (12), p.3254-3270
Main Authors: Zhu, Xinye, An, Tianjiao, Dong, Bo
Format: Article
Language:English
Subjects:
Adaptive control
adaptive dynamic programming
Algorithms
Control methods
Control theory
Couplings
Dynamic models
Dynamic programming
Manipulators
modular robot manipulators
multiplayer zero‐sum game
Neural networks
Optimal control
Robot arms
Robot control
Tracking control
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Summary:Summary This article presents a multiplayer zero‐sum game optimal control for modular robot manipulators (MRMs) via adaptive dynamic programming (ADP). The dynamic model of MRMs with interconnected dynamic couplings (IDCs) is formulated. The control law and IDC effect are regarded as players in each module. The optimal tracking control problem of the MRM system can be transformed into a multiplayer zero‐sum game. Base on ADP algorithm, the Hamilton–Jacobi–Issacs (HJI) equation is solved via critic neural network. Then, the optimal control law can be derivated. The closed‐loop robotic system is proved to be asymptotic stable and experiments are conducted to verify the effectiveness of the control method.
ISSN:0890-6327
1099-1115
DOI:10.1002/acs.3512