Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions

Actor-Critic-Identifier Structure-Based Decentralized Neuro-Optimal Control of Modular Robot Manipulators With Environmental Collisions

This paper presents a decentralized zero-sum optimal control method for MRMs with environmental collisions via an actor-critic-identifier (ACI) structure-based adaptive dynamic programming (ADP) algorithm. The dynamic model of the MRMs is formulated via a novel collision identification method that i...

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Bibliographic Details
Main Authors: Bo Dong, Tianjiao An, Fan Zhou, Keping Liu, Weibo Yu, Yuanchun Li
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Adaptive dynamic programming
collision identification
decentralized optimal control
modular robot manipulators
zero-sum game
Online Access:https://ieeexplore.ieee.org/document/8758094/

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