Analytical and experimental nonzero-sum differential game-based control of a 7-DOF robotic manipulator

摘要

We formulate a Nash-based feedback control law for an Euler–Lagrange system to yield a solution to noncooperative differential game. The robot manipulators are broadly used in industrial units on the account of their reliable, fast, and precise motions, while consuming a significant lumped amount of energy. Therefore, an optimal control strategy needs to be implemented in addressing efficiency issues, while delivering accuracy obligation. As a case study, we here focus on a 7-DOF robot manipulator through formulating a two-player feedback nonzero-sum differential game. First, coupled Euler–Lagrangian dynamic equations of the manipulator are briefly presented. Then, we formulate the feedback Nash equilibrium solution to achieve perfect trajectory tracking. Finally, the performance of the Nash-based feedback controller is analytically and experimentally examined. Simulation and experimental results reveal that the control law yields almost perfect tracking and achieves closed-loop stability.