Journal of Jilin University(Engineering and Technology Edition) ›› 2020, Vol. 50 ›› Issue (1): 342-350.doi: 10.13229/j.cnki.jdxbgxb20181217

Previous Articles    

Decentralized energy guaranteed cost decentralized optimal control of reconfigurable robots based on ADP

Fu LIU1,2(),Yi AN1,Bo DONG3,Yuan-chun LI2,3()   

  1. 1. College of Communication Engineering，Jilin University, Changchun 130022, China
    2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China
    3. College of Electrical and Electronic Engineering，Changchun University of Technology, Changchun 130012, China
  • Received:2018-12-10 Online:2020-01-01 Published:2020-02-06
  • Contact: Yuan-chun LI E-mail:liufu@jlu.edu.cn;liyc@mail.ccut.edu.cn

RICH HTML

 8   

PDF (PC)

317

Abstract:

In this paper, an energy guaranteed cost optimal control method based on adaptive dynamic programming (ADP) is presented for decentralized control problem of coupling crosslinking uncertainty reconfigurable robots. Based on joint torque measurement information, a reconfigurable robot dynamics model is established. According to the control precision and energy consumption of the performance index function, the Hamilton Jacobi Bellman (HJB) equation is built, then the policy iteration (PI) method is employed to solve the HJB equation and approximate the optimal control strategy. The asymptotic stability of closed-loop system is proved by Lyapunov theory. The simulation results demonstrate the effectiveness of the algorithm.

Key words: automatic control technology, reconfigurable robots, nonlinear optimal control, adaptive dynamic programming, energy guaranteed cost decentralized optimal control, policy iteration

CLC Number: 

  • TP273

Table 1

Controller parameters"

参 数 数值 参 数 数值
I m i /(g?cm2) 118 γ i 101
f ? c i /（N?m） 55 B ? i /(m?s?rad-1) 0.9
f ? τ i /(s2?rad-2) 80 f ? s i /（N?m） 1.52
α e i 0.5 α c i 0.8
ρ A i 2.3663 ρ B i 2.251 9
ρ f i 0.3179 ρ F i 1 /(N?m?rad-1) 0.3
ρ F i 2 /（N?m） 1.0 ρ F i 3 /（N?m） 0.7
ρ F i 4 /(s2?rad-2) 20

Fig.1

Trajectories tracking curves for configuration A of ADP"

Fig.2

Tracking error curves for configuration A of ADP"

Fig.3

Tracking error curves for configuration A of RBF"

Fig.4

Weights of critic NN for configuration A of ADP"

Fig.5

Trajectories tracking curves for configuration B of ADP"

Fig.6

Tracking error curves for configuration B of ADP"

Fig.7

Tracking error curves for configuration B of RBF"

Fig.8

Weights of critic NN for configuration B of ADP"

Fig.9

Control torque curves of ADP"

Fig.10

Control torque curves of RBF"

1 Dong B , Zhou F , Liu K , et al . Torque sensorless decentralized neuro-optimal control for modular and reconfigurable robots with uncertain environments[J]. Neurocomputing, 2018, 282: 60-73.
2 Zhang T , Zhang W , Gupta M M . An underactuated self-reconfigurable robot and the reconfiguration evolution[J]. Mechanism and Machine Theory, 2018, 124: 248-258.
3 Zhou F , Dong B , Li Y . Torque sensorless force/position decentralized control for constrained, reconfigurable manipulator with harmonic drive transmission[J]. International Journal of Control, Automation and Systems, 2017, 15(5): 2364-2375.
4 董博, 刘克平, 李元春 . 受动态约束的谐波传动式可重构模块[J] .控制与决策, 2016, 31(3): 441-447.
Dong Bo , Liu Ke-ping , Li Yuan-chun . Decentralized integral sliding mode control for time varying constrained modular and reconfigurable robot based on harmonic drive transmission[J]. Control and Decision, 2016, 31(3): 441-447.
5 Dong B , Liu K , Li Y . Decentralized control of harmonic drive based modular robot manipulator using only position measurements: theory and experimental verification[J]. Journal of Intelligent and Robotic Systems, 2017, 88(1): 3-18.
6 Zhao B , Liu D , Li Y . Online fault compensation control based on policy iteration algorithm for a class of affine nonlinear systems with actuator failures[J]. IET Control Theory & Applications, 2016, 10(15): 1816-1823.
7 张化光, 张欣, 罗艳红, 等 . 自适应动态规划综述[J] .自动化学报, 2013, 39(4): 303-311.
Zhang Hua-guang , Zhang Xin , Luo Yan-hong , et al . An overview of research on adaptive dynamic programming[J]. Acta Automatica Sinica, 2013, 39(4): 303-311.
8 殷林飞, 余 涛, 张泽宇, 等 . 基于深度自适应动态规划的孤岛主动配电网发电控制与优化一体化算法[J] .控制理论与应用, 2018, 35(2): 169-183.
Yin Lin-fei , Yu Tao , Zhang Ze-yu , et al . Deep adaptive dynamic programming based integration algorithm for generation control and optimization of islanded active distribution network[J]. Control Theory & Applications, 2018, 35(2): 169-183.
9 孙景亮, 刘春生 . 基于自适应动态规划的导弹制导律研究综述[J] .自动化学报, 2017, 43(7): 1101-1113.
Sun Jing-liang , Liu Chun-sheng . An overview on the adaptive dynamic programming based missile guidance law[J]. Acta Automatica Sinica, 2017, 43(7): 1101-1113.
10 Yang Xiong , He Hai-bo . Adaptive critic designs for optimal control of uncertain nonlinear systems with unmatched interconnections[J]. Neural Networks, 2018, 105: 142-153.
11 Wang D , Liu D , Mu C , et al . Decentralized guaranteed cost control of interconnected systems with uncertainties: a learning-based optimal control strategy[J]. Neurocomputing, 2016, 214: 297-306.
12 Liu G , Abdul S , Goldenberg A A . Distributed control of modular and reconfigurable robot with torque sensing[J]. Robotica, 2008, 26(1): 75-84.
13 Liu G , Liu Y , Goldenberg A A , et al . Design, analysis, and control of a spring-assisted modular and reconfigurable robot[J]. ASME Transactions on Mechatronics, 2011, 16(4): 695-706.
14 Yi An , Bo Dong , Fan Zhou , et al . Decentralized guaranteed cost control of modular and reconfigurable robots based on adaptive dynamic programming[C]∥Proceedings of the 30th Chinese Control and Decision Conference, Shenyang, China，2018: 1237-1242.
[1] Miao-miao MA,Jun-jun PAN,Xiang-jie LIU. Model predictive load frequency control of microgrid with electrical vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1644-1652.
[2] Shu⁃you YU,Lei TAN,Wu⁃yang WANG,Hong CHEN. Control of active four wheel steering vehicle based ontriple⁃step method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 934-942.
[3] Hai⁃ying WEN,Xiang REN,Wei⁃liang XU,Ming CONG,Wen⁃long QIN,Shu⁃hai HU. Bionic design and experimental test of temporomandibular joint for masticatory robot [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 943-952.
[4] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[5] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[6] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[7] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[8] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[9] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[10] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[11] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[12] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[13] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[14] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[15] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd