Adaptive dynamic event-triggered control for constrained modular reconfigurable robot

作     者：Song, Ruizhuo Liu, Lu Xu, Zhen 

作者机构：Univ Sci & Technol Beijing Beijing Engn Res Ctr Ind Spectrum Imaging Sch Automat & Elect Engn Beijing 100083 Peoples R China Univ Sci & Technol Beijing Res Inst Urbanizat & Urban Safety Sch Civil & Resource Engn Beijing 100083 Peoples R China 

出 版 物：《KNOWLEDGE-BASED SYSTEMS》 (知识库系统)

年 卷 期：2022年第254卷

核心收录：

学科分类：08[工学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：National Natural Science Foundation of China [61873300, 61722312] Fundamental Research Funds for the Central Uni-versities, China [FRF-MP-20-11] Inter-disciplinary Research Project for Young Teachers of USTB (Funda-mental Research Funds for the Central Universities) , China [FRF-IDRY-20-030] 

主　　题：Adaptive dynamic programming Constrained input Dynamic event -triggered control Modular reconfigurable robot 

摘      要：Compared with traditional robot, modular reconfigurable robot (MRR) has the advantages of strong environmental adaptability and flexible task completion. According to the optimal tracking control problem (OTCP) of MRR under some restricted conditions, this paper puts forward a constrained dynamic event-triggered control (DETC) for MRR system with disturbance through adaptive dynamic programming (ADP), which can minimize the information interaction quantity under the premise of system stability and expected control effect. In view of the uncertainty of model coupling part, the identification network is used to estimate the dynamics of MRR and the estimation error is proved to be uniformly ultimate bounded (UUB). The other three groups of critic, action and disturbance neural networks (NNs) are established by the approximation principle of ADP. The optimal control pair is obtained through policy iteration (PI) with DETC, and the triggering condition is designed based on the asymptotic stability of MRR system. At last, the strengths of the algorithm in this paper are validated through simulation experiments. (C) 2022 Elsevier B.V. All rights reserved.