Optimal Tracking Control for Reconfigurable Manipulators Based on Critic-only Policy Iteration Algorithm
作者单位：Department of Control Science and EngineeringChangchun University of Technology The State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of Sciences
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported in part by the National Natural Science Foundation of China(Grants 61374051,61603387) in part by the Scientific and Technological Development Plan Project in Jilin Province of China(Grants20150520112JH,20160414033GH and 20160520013JH) in part by the Science and Technology Project of Jilin Provincial Education Department of China during the 13th Five-Year Plan Period(Grants JJKH20170569KJ,JJKH20170570KJ) in part by the Opening Funding of State Key Laboratory of Management and Control for Complex Systems(Grant 20150102)
关 键 词：Adaptive dynamic programming Reconfigurable manipulators Optimal tracking control Policy iteration Neural networks
摘 要：This paper tackles the optimal tracking control problem for reconfigurable manipulators based on critic-only policy iteration（Co PI） algorithm. By system transformation, the optimal tracking control problem is transformed into an optimal regulation problem. The optimal tracking controller is composed of the desired controller and the approximate optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, while the approximate optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. Then, a critic neural network is used to estimate the optimal performance index function, and the optimal feedback control is obtained by the Co PI algorithm. The convergence of the proposed method is analyzed and it is shown that the closed-loop system based on Co PI is uniformly ultimately bounded by using the Lyapunov approach. Finally, simulation studies are given to show the effectiveness of the developed method.