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	Fuzzy logic nonzero-sum game-based distributed approximated optimal control of modular robot manipulators with human-robot collaboration
	T. An, X. Zhu, M. Zhu, B. Ma and B. Dong
	2023
发表期刊	Neurocomputing
ISSN	09252312
卷号	543
摘要	In this paper, a fuzzy logic nonzero-sum game-based distributed approximated optimal control scheme is presented for modular robot manipulators (MRMs) with human-robot collaboration (HRC) tasks. The MRM dynamic model is formulated by using joint torque feedback (JTF) technique. Based on the differential game strategy, the optimal control problem of HRC task-oriented MRM systems is transformed into a nonzero-sum game problem of multiple robotic subsystems. By taking advantage of the adaptive dynamic programming (ADP) algorithm, the distributed approximate optimal control policy under HRC tasks is developed by a novel fuzzy logic nonzero-sum game manner for solving the coupled Hamilton–Jacobian (HJ) equation. The trajectory tracking error under HRC task of the closed-loop MRM system is proved to be ultimately uniformly bounded (UUB) using the Lyapunov theory. Finally, experiment results have been presented, which demonstrate the advantage and effectiveness of the developed method. © 2023 Elsevier B.V.
DOI	10.1016/j.neucom.2023.126276
URL	查看原文
收录类别	sci ; ei
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/67326
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	T. An, X. Zhu, M. Zhu, B. Ma and B. Dong. Fuzzy logic nonzero-sum game-based distributed approximated optimal control of modular robot manipulators with human-robot collaboration[J]. Neurocomputing,2023,543.
APA	T. An, X. Zhu, M. Zhu, B. Ma and B. Dong.(2023).Fuzzy logic nonzero-sum game-based distributed approximated optimal control of modular robot manipulators with human-robot collaboration.Neurocomputing,543.
MLA	T. An, X. Zhu, M. Zhu, B. Ma and B. Dong."Fuzzy logic nonzero-sum game-based distributed approximated optimal control of modular robot manipulators with human-robot collaboration".Neurocomputing 543(2023).

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