Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators

doi:10.1007/s12555-016-0711-5

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 平行控制

	Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators
	Zhao, Bo1 ; Li, Yuanchun 2
刊名	INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
	2018-04-01
卷号	16 期号:2 页码:478-490
关键词	Adaptive Dynamic Programming Decentralized Tracking Control Model-free Near-optimal Neural Networks Reconfigurable Manipulators
DOI	10.1007/s12555-016-0711-5
文献子类	Article
英文摘要	In this paper, a model-free near-optimal decentralized tracking control (DTC) scheme is developed for reconfigurable manipulators via adaptive dynamic programming algorithm. The proposed controller can be divided into two parts, namely local desired controller and local tracking error controller. In order to remove the normboundedness assumption of interconnections, desired states of coupled subsystems are employed to substitute their actual states. Using the local input/output data, the unknown subsystem dynamics of reconfigurable manipulators can be identified by constructing local neural network (NN) identifiers. With the help of the identified dynamics, the local desired control can be derived directly with corresponding desired states. Then, for tracking error subsystems, the local tracking error control is investigated by the approximate improved local cost function via local critic NN and the identified input gain matrix. To overcome the overall error caused by the substitution, identification and critic NN approximation, a robust compensation is added to construct the improved local cost function that reflects the overall error, regulation and control simultaneously. Therefore, the closed-loop tracking system can be guaranteed to be asymptotically stable via Lyapunov stability theorem. Two 2-degree of freedom reconfigurable manipulators with different configurations are employed to demonstrate the effectiveness of the proposed model-free near-optimal DTC scheme.
WOS关键词	NONLINEAR INTERCONNECTED SYSTEMS ; MOBILE MODULAR MANIPULATORS ; FAULT-TOLERANT CONTROL ; NETWORK HJB APPROACH ; UNKNOWN DYNAMICS ; ROBOT MANIPULATORS ; TIME-SYSTEMS ; OBSERVER ; ALGORITHM ; ARMS
WOS研究方向	Automation & Control Systems
语种	英语
WOS记录号	WOS:000429572000007
资助机构	National Natural Science Foundation of China(61603387 ; Scientific and Technological Development Plan Project in Jilin Province of China(20150520112JH ; 61773075 ; 20160414033GH) ; 61374051)
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/22017]
专题	复杂系统管理与控制国家重点实验室_平行控制
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Bo,Li, Yuanchun. Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2018,16(2):478-490.
APA	Zhao, Bo,&Li, Yuanchun.(2018).Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,16(2),478-490.
MLA	Zhao, Bo,et al."Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 16.2(2018):478-490.