Optimized leader‐follower consensus control using combination of reinforcement learning and sliding mode mechanism for multiple robot manipulator system

Author:

Song Yanfen1,Li Zijun1,Li Bin1,Wen Guoxing12ORCID

Affiliation:

1. School of Mathematics and Statistics Qilu University of Technology (Shandong Academy of Sciences) Jinan Shandong China

2. College of Sciences Shandong University of Aeronautics Binzhou Shandong China

Abstract

AbstractThis article is to develop an optimized leader‐follower consensus control for multiple robot manipulator system by combining sliding mode control (SMC) and reinforcement learning (RL). The SMC mechanism aims to steer both position and velocity states of multiple manipulator reaching the predefined trajectory. And the RL is designed and performed under identifier‐critic‐actor architecture for the achievement of optimized control performance. Compared to traditional optimal control, this proposed method has two main advantages: (i) the RL updating laws for training both the actor and critic networks are simpler; (ii) the optimized control can not require the complete dynamic knowledge because the adaptive identifier is designed into the RL learning. Consequently, this optimized control method can smoothly steer the multiple robot manipulator system to achieve the leader‐follower consensus. Finally, feasibility of this control method is verified through both theory and simulation.

Funder

National Natural Science Foundation of China

Natural Science Foundation of Shandong Province

Publisher

Wiley

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3