- 【SCI2区第一作者李元春通讯作者董博】Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input
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- 所属单位：电气与电子工程学院
- 教研室：自动化
- 发表刊物：Nonlinear Dynamics
- 项目来源：国家自然科学基金项目
- 关键字：Modular robot manipulators; Constrained input; Cooperative game [1];Adaptive dynamic programming; Event-triggered mechanism
- 摘要：In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system isintroduced. According to the joint torque feedback technique, the dynamics model of theconstrained input subsystem is established and the global state space equation is derived.The control inputs of n joints in the MRM system with constrained input are taken as nparticipants of cooperative game, and the tracking control problem of the manipulatorsystem is transformed into the optimal control problem based on the cooperative game.Next, a fusion function containing position and velocity errors is defined to construct theperformance index function. In order to improve the control performance and robustnessof the manipulator system, part of the known model information is used to devisecontroller, the model uncertainty is dealt by the neural network (NN) observer, and theoptimal compensation control strategy is used to deal with internal disturbance such assensor measurement error and transmission ripple due to power fluctuations,electromagnetic effects, noise and vibration. Based on the adaptive dynamic programmingalgorithm and event-triggered mechanism, the optimal tracking control strategy isobtained by approximately solving the event-triggered Hamilton-Jacobi-Bellman equationwith the critic NN. The Lyapunov theory proves that trajectory tracking error of MRMsystem with constrained input is uniformly ultimately bounded. Finally, the experimentalresults demonstrate the effectiveness of the proposed control method.
- 合写作者：韦重阳,安天骄,马冰,董博
- 第一作者：李元春
- 论文类型：期刊论文
- 卷号：109
- 期号：0
- 页面范围：1
- ISSN号：0924-090X
- 是否译文：否
- 发表时间：2022-08-01
