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

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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

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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"

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