Decentralized position–force zero-sum approximate optimal control for reconfigurable robots with unmodeled dynamic

In this paper, the position–force–based approximate optimal control method is developed for reconfigurable robots using zero-sum game strategy. By utilizing the Newton–Euler iteration technique, the robotic system’s dynamic model is formulated and the state space equation is derived. According to ad...

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Veröffentlicht in:	Transactions of the Institute of Measurement and Control 2023-02, Vol.45 (3), p.466-475
Hauptverfasser:	Zhu, Xinye, An, Tianjiao, Wang, Gang
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Algorithms Control methods Dynamic models Dynamic programming Game theory Iterative methods Neural networks Optimal control Reconfiguration Robot control Tracking control Tracking errors Trajectory control Zero sum games
Online-Zugang:	Volltext
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