检索结果-内蒙古大学图书馆

Bilayer nonzero-sum differential game-based optimal control of modular robot manipulator for human-robot collaboration

引用

EUROPEAN JOURNAL OF CONTROL 2025年 83卷

作者： Cui, Yiming An, Tianjiao Dong, Bo Ma, Bing Zhang, Zhenguo Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Jilin Peoples R China Jilin Commun Polytech Inst Rail Transit Changchun 130012 Jilin Peoples R China Changchun Univ Technol Minist Educ Key Lab Adv Struct Mat Changchun 130012 Jilin Peoples R China

This paper introduces a bilayer nonzero-sum differential game-based optimal control framework for a modular robot manipulator (MRM) in Human-robot Collaboration (HRC) tasks. The dynamic model of the MRM is obtained with the Joint Torque Feedback (JTF) technique. Consider the N-player nonzero-sum differential game within the MRM subsystems and the 2-player nonzero-sum differential game involving both the MRM and human collaborators in HRC tasks as the inner and outer layers of the bilayer nonzero-sum differential game. The Nash equilibrium solutions for the inner and outer layers of the nonzero-sum differential games are independently determined using the Adaptive Dynamic Programming (ADP) algorithm, which is based on a fuzzy logic system. As a result, optimal control policies for MRM subsystems and the optimal interaction force in HRC tasks are derived. The trajectory tracking error of the MRM system and the outer layer physical Human-robot Interaction (pHRI) system have both been proven to be Ultimately Uniformly Bounded (UUB) under the bilayer nonzero-sum differential game-based optimal control of MRM for HRC with the application of Lyapunov theory. Finally, experiment results are presented to validate the superiority and effectiveness of the proposed method.

关键词： modular robot manipulator Nonzero-sum differential game Adaptive dynamic programming Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Bayesian motion intention estimation-based impedance control of modular robot manipulator: theory and experimental verification 35

Bayesian motion intention estimation-based impedance control...

引用

35th Chinese Control and Decision Conference (CCDC)

作者： Li, Shijie An, Tianjiao Ma, Bing Gao, Yuhang Dong, Bo Changchun Univ Technol Dept Control Sci & Engn Changchun Peoples R China

ISBN: (纸本)9798350334722

This article proposes an impedance control method of modular robot manipulator (MRM) system for physical human-robot interaction (pHRI). Bayesian parameter estimation is employed to identify human motion intention, which is considered as the desired trajectory in impedance control that allows the MRM easily to track the target impedance model. The uniformly ultimately bounded (UUB) of the tracking error is proved based on Lyapunov theory, and the experimental results demonstrate the effectiveness of the proposed control method in pHRI.

关键词： modular robot manipulator Human motion intention Impedance control Physical human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Bayesian motion intention estimation-based impedance control of modular robot manipulator:theory and experimental verification

Bayesian motion intention estimation-based impedance control...

引用

第35届中国控制与决策会议

作者： Shijie Li Tianjiao An Bing Ma Yuhang Gao Bo Dong Department of Control Science and Engineering Changchun University of Technology

This article proposes an impedance control method of modular robot manipulator(MRM) system for physical humanrobot interaction(pHRI).Bayesian parameter estimation is employed to identify human motion intention,which is considered as the desired trajectory in impedance control that allows the MRM easily to track the target impedance *** uniformly ultimately bounded(UUB) of the tracking error is proved based on Lyapunov theory,and the experimental results demonstrate the effectiveness of the proposed control method in pHRI.

关键词： modular robot manipulator Human motion intention Impedance control Physical human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Decentralized Control of Harmonic Drive Based modular robot manipulator using only Position Measurements: Theory and Experimental Verification

引用

JOURNAL OF INTELLIGENT & robotIC SYSTEMS 2017年第1期88卷 3-18页

作者： Dong, Bo Liu, Keping Li, Yuanchun Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Jilin Peoples R China Chinese Acad Sci State Key Lab Management & Control Complex Syst Inst Automat Beijing 100190 Peoples R China

This paper presents a decentralized control approach of harmonic drive (HD) based modular robot manipulator (MRM) using only position measurements. Unlike known methods that rely on joint torque and velocity sensing, this paper addresses the problem of controlling HD based MRM using only position measurements on the motor and link sides of each module. The dynamic model of HD based MRM is formulated by employing a high-fidelity HD model and the velocity of each robot joint is estimated based on a novel nonlinear velocity estimator. With only local information on each module, a decentralized integral sliding mode controller (ISMC) is designed based on variable gain super-twisting algorithm (VGSTA) to compensate the model uncertainty and to reduce the chattering effect of the controller. The asymptotic stability of the closed-loop system is proved using the Lyapunov theory. Finally, experiments are performed for a 3-DOF MRM to verify the advantage of the proposed method.

关键词： modular robot manipulator robot decentralized control Harmonic drive Velocity estimation Model uncertainty compensation

来源：评论

学校读者我要写书评

暂无评论

Barrier-critic-disturbance approximate optimal control of nonzero-sum differential games for modular robot manipulators

引用

NEURAL NETWORKS 2025年 181卷 106880页

作者： Dong, Bo Zhu, Xinye An, Tianjiao Jiang, Hucheng Ma, Bing Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Jilin Peoples R China

In this paper, for addressing the safe control problem of modular robot manipulators (MRMs) system with uncertain disturbances, an approximate optimal control scheme of nonzero-sum (NZS) differential games is proposed based on the control barrier function (CBF). The dynamic model of the manipulator system integrates joint subsystems through the utilization of joint torque feedback (JTF) technique, incorporating interconnected dynamic coupling (IDC) effects. By integrating the cost functions relevant to each player with the CBF, the evolution of system states is ensured to remain within the safe region. Subsequently, the optimal tracking control problem for the MRM system is reformulated as an NZS game involving multiple joint subsystems. Based on the adaptive dynamic programming (ADP) algorithm, a cost function approximator for solving Hamilton-Jacobi (HJ) equation using only critic neural networks (NN) is established, which promotes the feasible derivation of the approximate optimal control strategy. The Lyapunov theory is utilized to demonstrate that the tracking error is uniformly ultimately bounded (UUB). Utilizing the CBF's state constraint mechanism prevents the robot from deviating from the safe region, and the application of the NZS game approach ensures that the subsystems of the MRM reach a Nash equilibrium. The proposed control method effectively addresses the problem of safe and approximate optimal control of MRM system under uncertain disturbances. Finally, the effectiveness and superiority of the proposed method are verified through simulations and experiments.

关键词： Adaptive dynamic programming Control barrier function Nonzero-sum game modular robot manipulator Optimal control

来源：评论

学校读者我要写书评

暂无评论

Decentralized Position/torque Control of modular robot manipulators via Interaction Torque Estimation-based Human Motion Intention Identification

引用

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2024年第5期22卷 1585-1600页

作者： Wang, Yuexi An, Tianjiao Cui, Yiming Li, Yuanchun Dong, Bo Changchun Univ Technol Sch Elect & Elect Engn 2055 Yanan St Changchun 130012 Peoples R China Changchun Univ Technol Key Lab Adv Struct Mat Minist Educ Changchun 130012 Peoples R China

For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human motion intention identification in this investigation. Different from traditional control schemes which are oriented to pHRI tasks depending on the biological signal or the multisensory, the developed decentralized position/torque control is realized by utilizing only position measurements of each joint module in this paper. A novel extend state observer (ESO)-based interaction torque estimation method is proposed to identify the human motion intention that can provide motion tracking information for robots in pHRI tasks by using only joint local dynamic information. In addition, the interaction torque estimation is utilized to design the decentralized position/torque control scheme which can implement high-performance of interaction torque tracking and position tracking. The trajectory tracking error and the interaction torque tracking error of the closed-loop MRM system are uniformly ultimately bounded (UUB) which is proved by Lyapunov theory. Finally, pHRI experiment is utilized to verify the effectiveness and advancement of the proposed method.

关键词： Decentralized position/torque control human motion intention identification interaction torque estimation modular robot manipulator physical human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification

引用

COMPLEX & INTELLIGENT SYSTEMS 2023年第2期9卷 1247-1263页

作者： Dong, Bo Wang, Yuexi Chen, Jingchen Zhang, Zhenguo An, Tianjiao Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Peoples R China

In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation of physical human-robot interaction (pHRI). Different from traditional interaction control scheme that depends on the biological signal and centralized control method, the decentralized robust interaction control is implemented that using only position measurements of each joint module in this investigation. Based on the harmonic drive compliance model, a novel torque-sensorless human motion intention estimation method is developed, which utilizes only the information of local dynamic position measurements. On this basis, the decentralized robust interaction control scheme is presented to achieve high performance of position tracking and ensure the security of interaction to create the 'safety' interaction environment. The uniformly ultimately bounded (UUB) of the tracking error is proved by the Lyapunov theory. Finally, pHRI experiments confirm the effectiveness and advancement of the proposed method.

关键词： modular robot manipulator Physical human-robot interaction Human motion intention identification Neural network Interaction control

来源：评论

学校读者我要写书评

暂无评论

Event-trigger-based approximate optimal control of modular robot manipulators using zero-sum game

引用

OPTIMAL CONTROL APPLICATIONS & METHODS 2022年第5期43卷 1328-1342页

作者： Dong, Bo Chen, Jingchen Pan, Qiang An, Tianjiao Changchun Univ Technol Dept Control Sci & Engn 2055 N Yanan Ave Changchun Peoples R China

An event-triggered-based approximate optimal control is developed for modular robot manipulators (MRMs) using zero-sum game strategy. By utilizing the joint torque feedback method, robotic systems' dynamic model is formulated and state space equation is derived. According to event-triggered mechanism and neural network algorithm, the tracking control issue is converted to a zero-sum game optimal control issue. The optimal control policy and worst disturbance policy are acquired by Hamilton-Jacobi-Isaacs function respectively. The MRM system's tracking error is ultimately uniformly bounded. Finally, experiments demonstrate advantages of the method.

关键词： approximate optimal control event trigger mechanism modular robot manipulator zero-sum game

来源：评论

学校读者我要写书评

暂无评论

Decentralized robust control of modular robot manipulators with harmonic drive transmission using RARKF-based joint torque estimation 34

Decentralized robust control of modular robot manipulators w...

引用

34th Chinese Control and Decision Conference (CCDC)

作者： Wang, Tianhe An, Tianjiao Wei, Chongyang Li, Yuachun Dong, Bo Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Peoples R China

ISBN: (纸本)9781665478960

This paper presents a decentralized robust control of modular robot manipulators (MRMs) with harmonic drive transmission using redundant adaptive robust extended Kalman filter (RARKF)-based joint torque estimation. The dynamic model of MRMs is formulated via RARKF-based joint torque estimation method. A decentralized robust control is developed to guarantee the trajectory tracking error is uniform ultimate bounded (UUB). The closed-loop robotic system is asymptotic stability on the basis of Lyapunov verification. The experiments are performed to clarify the effectiveness of the proposed method.

关键词： modular robot manipulator Decentralized control Harmonic drive Redundant adaptive robust Kalman filter

来源：评论

学校读者我要写书评

暂无评论

A decentralized robust impedance control method of modular robot manipulators with physical human robot interaction 34

A decentralized robust impedance control method of modular r...

引用

34th Chinese Control and Decision Conference (CCDC)

作者： Jing, Yusheng An, Tianjiao Wang, Tianhe Li, Yuanchun Dong, Bo Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Peoples R China

ISBN: (纸本)9781665478960

In this paper, an impedance control approach is presented for modular robot manipulator (MRM) system with physical human robot interaction (pHRI). Based on joint torque feedback (JTF) technique, the dynamic model of the manipulator systems is described as an integration of joint subsystems associated with the effect of interconnected dynamic coupling (IDC). The radial basis function neural network (RBFNN) has been employed to cope with of unknown human limb model. A dual closed-loop control framework of impedance control and decentralized robust control is proposed to deal with the force/position control problem. Based on Lyapunov theory, the tracking error of the closedloop robotic system is verified to be ultimately uniformly bounded (UUB). Finally, the effectiveness of the proposed method is verified by experiments.

关键词： modular robot manipulator Impedance control Physical human robot interaction Human motion intention

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：