Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions

doi:10.1109/ACCESS.2019.2927511

	Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions
	Dong, Bo1,2 ; An, Tianjiao 1; Zhou, Fan 1; Liu, Keping 1; Yu, Weibo 1; Li, Yuanchun 1
刊名	IEEE ACCESS
	2019
卷号	7 页码:96148-96165
关键词	Adaptive dynamic programming collision identification decentralized optimal control modular robot manipulators zero-sum game
ISSN号	2169-3536
DOI	10.1109/ACCESS.2019.2927511
通讯作者	Li, Yuanchun(liyc@ccut.edu.cn)
英文摘要	This paper presents a decentralized zero-sum optimal control method for MRMs with environmental collisions via an actor-critic-identifier (ACI) structure-based adaptive dynamic programming (ADP) algorithm. The dynamic model of the MRMs is formulated via a novel collision identification method that is deployed for each joint module, in which the local position and torque information are used to design the model compensation controller. A neural network (NN) identifier is developed to compensate the model uncertainties and then, the optimal control problem of the MRMs with environmental collisions can be transformed into a two-player zero-sum optimal control one. Based on the ADP algorithm, the HamiltonJacobi-Isaacs (HJI) equation is solved by constructing the actor-critic NNs, thus making the derivation of the approximate optimal control policy feasible. Based on the Lyapunov theory, the closed-loop robotic system is proved to be asymptotically stable. Finally, the experiments are conducted to verify the effectiveness and advantages of the proposed method.
资助项目	National Natural Science Foundation of China[61773075] ; National Natural Science Foundation of China[61703055] ; Scientific Technological Development Plan Project in Jilin Province of China[20190103004JH] ; Scientific Technological Development Plan Project in Jilin Province of China[20170204067GX] ; Scientific Technological Development Plan Project in Jilin Province of China[20160520013JH] ; Scientific Technological Development Plan Project in Jilin Province of China[20160414033GH] ; Project of Engineering Laboratory of Intelligent Robot and Vision Measurement and Control Technology in Jilin Province[2019C010]
WOS关键词	NONLINEAR-SYSTEMS ; ROBUST-CONTROL ; POLICY ITERATION ; TORQUE ; JOINT ; STABILIZATION ; POSITION ; DESIGN
WOS研究方向	Computer Science ; Engineering ; Telecommunications
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000478961900059
资助机构	National Natural Science Foundation of China ; Scientific Technological Development Plan Project in Jilin Province of China ; Project of Engineering Laboratory of Intelligent Robot and Vision Measurement and Control Technology in Jilin Province
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/27594]
专题	中国科学院自动化研究所
通讯作者	Li, Yuanchun
作者单位	1.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Dong, Bo,An, Tianjiao,Zhou, Fan,et al. Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions[J]. IEEE ACCESS,2019,7:96148-96165.
APA	Dong, Bo,An, Tianjiao,Zhou, Fan,Liu, Keping,Yu, Weibo,&Li, Yuanchun.(2019).Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions.IEEE ACCESS,7,96148-96165.
MLA	Dong, Bo,et al."Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions".IEEE ACCESS 7(2019):96148-96165.