摘要
提出一种基于多人零和博弈的模块化机器人(Modular Robot Manipulators, MRMs)系统近似最优控制方法。建立了具有交联耦合(Interconnected Dynamic Couplings, IDC)的模块化机器人系统动力学模型。将机器人系统的控制律和IDC效应作为零和博弈的参与者,MRM系统的最优跟踪控制问题转化为多人零和博弈问题。根据自适应动态规划(Adaptive Dynamic Programming, ADP)算法,通过建立评判神经网络求解哈密顿-雅克比-埃塞克斯(Hamilton-Jacobi-Issacs, HJI)方程,推导出最优控制律。基于李雅普诺夫定理,证明了闭环机器人系统是渐近稳定的,最后通过实验验证了所提控制方法的有效性。
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.
作者
董博
朱新野
马冰
安天骄
DONG Bo;ZHU Xinye;MA Bing;AN Tianjiao(School of Electrical&Electronic Engineering,Changchun University of Technology,Changchun 130012,China)
出处
《长春工业大学学报》
CAS
2024年第2期114-124,共11页
Journal of Changchun University of Technology
基金
国家自然科学基金项目(62173047)
吉林省科技发展计划项目(20220201038GX)
吉林省教育厅“十三五”科学计划项目(JJKH20220689KJ)。
关键词
自适应动态规划
模块化机器人
多人零和博弈
最优控制
ADP(Adaptive Dynamic Programming)
MRMs(Modular Robot Manipulators)
multiplayer zero-sum game
optimal control
