Compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators: theory and experimental verification

作     者：Ma, Bing Li, Yuanchun 

作者机构：Changchun Univ Technol Dept Control Sci & Engn Changchun 130021 Peoples R China 

出 版 物：《COMPLEX & INTELLIGENT SYSTEMS》 (Complex Intell. Syst.)

年 卷 期：2022年第8卷第3期

页      面：1913-1927页

核心收录：

基　　金：National Natural Science Foundation of China [61773075, 61703055] Scientific Technological Development Plan Project in Jilin Province of China [20200801056GH, 20190103004JH] Science and Technology project of Jilin Provincial Education Department of China [JJKH20200672KJ, JJKH20200673KJ, JJKH20200674KJ] 

主　　题：Modular robot manipulators Adaptive dynamic programming Event-triggered mechanism Optimal control Neural networks 

摘      要：This paper presents a novel compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators (MRMs). On the basis of subsystem dynamics under joint torque feedback (JTF) technique, the proposed tracking error fusion function, which includes position error and velocity error, is utilized to construct performance index function. By analyzing the dynamic uncertainties, a local dynamic information-based robust controller is designed to engage the model uncertainty compensation. Based on adaptive dynamic programming (ADP) algorithm and the event-triggered mechanism, the decentralized tracking control is obtained by solving the event-triggered Hamilton-Jacobi-Bellman equation (HJBE) with the critic neural network (NN). The tracking error of the closed-loop manipulators system is proved to be ultimately uniformly bounded (UUB) using the Lyapunov stability theorem. Finally, experimental results illustrate the effectiveness of the developed control method.