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Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI and Q-Function
المؤلفون المشاركون
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2013، العدد 2013 (31 ديسمبر/كانون الأول 2013)، ص ص. 1-16، 16ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2013-12-19
دولة النشر
مصر
عدد الصفحات
16
التخصصات الرئيسية
الملخص EN
A novel decentralized reinforcement learning robust optimal tracking control theory for time varying constrained reconfigurable modular robots based on action-critic-identifier (ACI) and state-action value function (Q-function) has been presented to solve the problem of the continuous time nonlinear optimal control policy for strongly coupled uncertainty robotic system.
The dynamics of time varying constrained reconfigurable modular robot is described as a synthesis of interconnected subsystem, and continuous time state equation and Q-function have been designed in this paper.
Combining with ACI and RBF network, the global uncertainty of the subsystem and the HJB (Hamilton-Jacobi-Bellman) equation have been estimated, where critic-NN and action-NN are used to approximate the optimal Q-function and the optimal control policy, and the identifier is adopted to identify the global uncertainty as well as RBF-NN which is used to update the weights of ACI-NN.
On this basis, a novel decentralized robust optimal tracking controller of the subsystem is proposed, so that the subsystem can track the desired trajectory and the tracking error can converge to zero in a finite time.
The stability of ACI and the robust optimal tracking controller are confirmed by Lyapunov theory.
Finally, comparative simulation examples are presented to illustrate the effectiveness of the proposed ACI and decentralized control theory.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Dong, Bo& Li, Yuanchun. 2013. Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI and Q-Function. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1009216
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Dong, Bo& Li, Yuanchun. Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI and Q-Function. Mathematical Problems in Engineering No. 2013 (2013), pp.1-16.
https://search.emarefa.net/detail/BIM-1009216
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Dong, Bo& Li, Yuanchun. Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI and Q-Function. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-16.
https://search.emarefa.net/detail/BIM-1009216
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1009216
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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