Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming

doi:10.1109/TIE.2019.2914571

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

	Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming
	Zhao, Bo 2,3; Liu, Derong 1
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2020-04-01
卷号	67 期号:4 页码:3054-3064
关键词	Decentralized control Couplings Optimal control Robots Dynamic programming Artificial neural networks Trajectory Adaptive dynamic programming decentralized tracking control event-triggered mechanism modular reconfigurable robots optimal control reinforcement learning
ISSN号	0278-0046
DOI	10.1109/TIE.2019.2914571
通讯作者	Liu, Derong(derong@gdut.edu.cn)
英文摘要	This paper develops an event-triggered decentralized tracking control (DTC) approach for modular reconfigurable robots (MRRs) by using adaptive dynamic programming. By establishing a decentralized neural network (NN) observer, which uses local input-output data and desired states of coupling subsystems, the local dynamics of MRR subsystem can be obtained. In order to obtain the DTC, the tracking error subsystem is augmented by the exosystem with the desired trajectory. Based on the event-triggered mechanism and a modified local cost function, the DTC is derived by solving the local Hamilton-Jacobi-Bellman equation via a local critic NN with asymptotically stable structure. The stability of the entire closed-loop MRR system is analyzed by Lyapunovs direct method. The simulation of a two-degree of freedom MRR system ensures that the developed event-triggered DTC scheme is effective.
资助项目	National Natural Science Foundation of China[61603387] ; National Natural Science Foundation of China[61773075] ; National Natural Science Foundation of China[61533017] ; National Natural Science Foundation of China[U1501251] ; Early Career Development Award of SKLMCCS[20180201]
WOS关键词	COOPERATIVE CONTROL ; SYSTEMS ; MANIPULATORS ; DESIGN
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000507307000053
资助机构	National Natural Science Foundation of China ; Early Career Development Award of SKLMCCS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/29499]
专题	自动化研究所_复杂系统管理与控制国家重点实验室
通讯作者	Liu, Derong
作者单位	1.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Peoples R China 2.Beijing Normal Univ, Sch Syst Sci, Beijing 100875, Peoples R China 3.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	Zhao, Bo,Liu, Derong. Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2020,67(4):3054-3064.
APA	Zhao, Bo,&Liu, Derong.(2020).Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,67(4),3054-3064.
MLA	Zhao, Bo,et al."Event-Triggered Decentralized Tracking Control of Modular Reconfigurable Robots Through Adaptive Dynamic Programming".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 67.4(2020):3054-3064.