Analytical and experimental nonzero-sum differential game-based control of a 7-DOF robotic manipulator
Analytical and experimental nonzero-sum differential game-based control of a 7-DOF robotic manipulator
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DOI：
10.1177/1077546320982447
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发表时间：
2021-01
影响因子：
2.8
通讯作者：
M. Bagheri;Peiman Naseradinmousavi
中科院分区：
文献类型：
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作者：
M. Bagheri;Peiman Naseradinmousavi
针对欧拉-拉格朗日系统，我们给出了一个基于Nash的反馈控制律，以求出非合作微分对策的解。机器人机械手由于其可靠、快速和精确的运动而被广泛应用于工业单位，同时消耗了大量的能量。因此，在解决效率问题时，需要实施最优控制策略，同时实现精度义务。作为一个实例，我们通过建立一个两人反馈的非零和微分对策来研究一个7自由度的机器人操作手。首先，简要介绍了机械手的欧拉-拉格朗日耦合动力学方程。然后，我们构造了反馈纳什均衡解，以实现完美轨迹跟踪。最后，对基于Nash的反馈控制器的性能进行了分析和实验验证。仿真和实验结果表明，该控制律具有较好的跟踪性能和闭环系统稳定性。
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.