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Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI and Q-Function
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-12-19
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1009216