基于自适应动态规划的模块化可重构机器人离散模糊最优控制

2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE) Pub Date : 2022-10-28 DOI:10.1109/RCAE56054.2022.9995880

Hucheng Jiang, Tianjiao An, B. Ma, Yuan-chun Li, B. Dong

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引用次数: 1

摘要

针对模块化可重构机器人在自适应动态规划(ADP)算法下的最优轨迹跟踪控制问题，提出了一种基于值迭代(VI)的分散模糊最优控制方法。设计了一个模糊逻辑系统，分别对mrr的成本函数和未知系统动力学进行估计。采用ADP方法，构造局部在线VI算法，求解近似代价函数的HJB方程，实现了基于分散fls的最优控制方法。利用李雅普诺夫定理证明了MRR系统是渐近稳定的。最后，仿真结果表明了该方法的有效性。

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Value Iteration-based Decentralized Fuzzy Optimal Control of Modular Reconfigurable Robots via Adaptive Dynamic Programming

In this article, a decentralized fuzzy optimal control method dependent on value iteration (VI) is proposed to settle the optimal trajectory tracking control problem of modular reconfigurable robots (MRRs) under the adaptive dynamic programming (ADP) algorithm. A fuzzy logic system (FLS) is designed to estimate cost function and unknown system dynamics of MRRs respectively. Through the use of ADP method, construct a local online VI algorithm and solving HJB equation with approximate cost function, then the decentralized FLS-based optimal control method is realized. On the basis of Lyapunov theorem the MRR system is proved to be asymptotically stable. At last, simulation results show the availability of the suggested method.

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2022 5th International Conference on Robotics, Control and Automation Engineering (RCAE)

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