Multiplayer zero‐sum games optimal control for modular robot manipulators with interconnected dynamic couplings

摘要

Summary This article presents a multiplayer zero‐sum game optimal control for modular robot manipulators (MRMs) via adaptive dynamic programming (ADP). The dynamic model of MRMs with interconnected dynamic couplings (IDCs) is formulated. The control law and IDC effect are regarded as players in each module. The optimal tracking control problem of the MRM system can be transformed into a multiplayer zero‐sum game. Base on ADP algorithm, the Hamilton–Jacobi–Issacs (HJI) equation is solved via critic neural network. Then, the optimal control law can be derivated. The closed‐loop robotic system is proved to be asymptotic stable and experiments are conducted to verify the effectiveness of the control method.