Abstract
This paper focuses on the optimal tracking control problem for robot systems with environment interaction and actuator saturation. A control scheme combined with admittance adaptation and adaptive dynamic programming (ADP) is developed. The unknown environment is modelled as a linear system and admittance controller is derived to achieve compliant behaviour of the robot. In the ADP framework, the cost function is defined with non-quadratic form and the critic network is designed with radial basis function neural network which introduces to obtain an approximate optimal control of the Hamilton–Jacobi–Bellman equation, which guarantees the optimal trajectory tracking. The system stability is analysed by Lyapunov theorem and simulations demonstrate the effectiveness of the proposed strategy.
Highlights
In recent decades, robots are widely applied in industrial automation, such as assembling robots, handling robots, welding robots
It’s noted that there are two main approaches applied in current research in robotics to ensure the compliant behaviour, i.e., hybrid position/force control proposed by Raibert and Craig (1981) and impedance control proposed by Hogan (1981)
The main contributions of this paper are summarized as follows (i) To solve interaction problem, the unknown environment is regarded as a linear system and an admittance adaptation approach based on iterative linear quadratic regulator(LQR) is adopted to obtain the compliant behaviour of the robot
Summary
Robots are widely applied in industrial automation, such as assembling robots, handling robots, welding robots. Since this method is studied based on backward numerical process, it will be affected by well-known curse of dimensionality with the increase of system dimension To overcome this problem, Werbos (1992) proposed adaptive dynamic programming (ADP) strategy using NN to approximate the cost function forward and obtain the solution of HJB equation. Based on our previous work, optimal tracking control issue for robot systems with environment interaction and actuator saturation will be studied in this paper. The main contributions of this paper are summarized as follows (i) To solve interaction problem, the unknown environment is regarded as a linear system and an admittance adaptation approach based on iterative linear quadratic regulator(LQR) is adopted to obtain the compliant behaviour of the robot.
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