Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator
This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matri...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/5/2890 |
| _version_ | 1797615793986338816 |
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| author | Xiaohua Wei Jiangang Ye Jianliang Xu Zhiguo Tang |
| author_facet | Xiaohua Wei Jiangang Ye Jianliang Xu Zhiguo Tang |
| author_sort | Xiaohua Wei |
| collection | DOAJ |
| description | This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matrix, which represents the coupling between the hydraulic servo-driven system and rigid–flexible manipulator established using the assumed mode method and Lagrange principle. Furthermore, the whole dynamic model of the manipulator system is decoupled into a second slow subsystem (SSS), a second fast subsystem (SFS) and a first fast subsystem (FFS). The three subsystems can describe a large range of movement, flexible vibration and electro-hydraulic servo control, respectively. Hereafter, an adaptive dynamic programming trajectory tracking control law with a critic-only policy iteration algorithm is presented in the second slow timescale, while both robust optimal control (ROC) in the second first timescale and adaptive sliding mode control (ASMC) in the first fast timescale are also designed using the Lyapunov stability theory. Finally, the numerical simulations are carried out to illustrate the rightness and robustness of the singular perturbation decomposition and proposed composite control algorithm. |
| first_indexed | 2024-03-11T07:31:57Z |
| format | Article |
| id | doaj.art-78c7dd917df64a48b85d560f3afec5e5 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-11T07:31:57Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-78c7dd917df64a48b85d560f3afec5e52023-11-17T07:16:26ZengMDPI AGApplied Sciences2076-34172023-02-01135289010.3390/app13052890Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic ManipulatorXiaohua Wei0Jiangang Ye1Jianliang Xu2Zhiguo Tang3School of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, ChinaQuzhou Special Equipment Inspection Center, Quzhou 324000, ChinaSchool of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, ChinaCollege of Communication Engineering, Jilin University, Changchun 130022, ChinaThis paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matrix, which represents the coupling between the hydraulic servo-driven system and rigid–flexible manipulator established using the assumed mode method and Lagrange principle. Furthermore, the whole dynamic model of the manipulator system is decoupled into a second slow subsystem (SSS), a second fast subsystem (SFS) and a first fast subsystem (FFS). The three subsystems can describe a large range of movement, flexible vibration and electro-hydraulic servo control, respectively. Hereafter, an adaptive dynamic programming trajectory tracking control law with a critic-only policy iteration algorithm is presented in the second slow timescale, while both robust optimal control (ROC) in the second first timescale and adaptive sliding mode control (ASMC) in the first fast timescale are also designed using the Lyapunov stability theory. Finally, the numerical simulations are carried out to illustrate the rightness and robustness of the singular perturbation decomposition and proposed composite control algorithm.https://www.mdpi.com/2076-3417/13/5/2890adaptive dynamic programmingrigid–flexible manipulatoroptimal controlsingular perturbation theoryassumed mode method |
| spellingShingle | Xiaohua Wei Jiangang Ye Jianliang Xu Zhiguo Tang Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator Applied Sciences adaptive dynamic programming rigid–flexible manipulator optimal control singular perturbation theory assumed mode method |
| title | Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator |
| title_full | Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator |
| title_fullStr | Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator |
| title_full_unstemmed | Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator |
| title_short | Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator |
| title_sort | adaptive dynamic programming based cross scale control of a hydraulic driven flexible robotic manipulator |
| topic | adaptive dynamic programming rigid–flexible manipulator optimal control singular perturbation theory assumed mode method |
| url | https://www.mdpi.com/2076-3417/13/5/2890 |
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