Improved Proxy-based Sliding Mode Control Integrated Adaptive Dynamic Programming For Pneumatic Muscle Actuators

2021 ◽  
Author(s):  
Zengqi Peng ◽  
Jian Huang
Keyword(s):  
Dynamic Programming ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Adaptive Dynamic Programming ◽  
Pneumatic Muscle ◽  
Adaptive Dynamic ◽  
Mode Control ◽  
Muscle Actuators

scholarly journals Model-free optimal decentralized sliding mode control for modular and reconfigurable robots based on adaptive dynamic programming

2019 ◽  
Vol 11 (12) ◽  
pp. 168781401989692 ◽  
Author(s):  
Bo Dong ◽  
Tianjiao An ◽  
Fan Zhou ◽  
Weibo Yu
Keyword(s):  
Dynamic Programming ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Dynamic Programming Algorithm ◽  
Adaptive Dynamic Programming ◽  
Programming Algorithm ◽  
Adaptive Dynamic ◽  
Mode Control ◽  
Model Free ◽  
Reconfigurable Robots

In this article, a model-free decentralized sliding mode control method is proposed based on adaptive dynamic programming algorithm to solve the problem of optimal trajectory tracking control of modular and reconfigurable robots. The dynamic model of modular and reconfigurable robot is formulated by a synthesis of joint subsystems with interconnected dynamic couplings. Based on sliding mode control technique, the optimal control problem of the modular and reconfigurable robot systems is transformed into an optimal compensation issue of unknown dynamics of each joint subsystems, in which the interconnected dynamic couplings effects among the subsystems are approximated by using the developed neural network identifier. Based on policy iteration scheme and the adaptive dynamic programming algorithm, the Hamilton–Jacobi–Bellman equation can be solved by using the critic neural network, so that optimal control policy can be obtained. The closed-loop system is proved to be asymptotically stable by using the Lyapunov theory. Finally, simulation results are provided to demonstrate the effectiveness of the method.

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