Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator
Source abstract
Abstract
This paper focuses primarily on adaptive dynamic programming (ADP)-based tracking control of the hydraulic-driven flexible robotic manipulator system (HDFRMS) with varying payloads and uncertainties via singular perturbation theory (SPT). Firstly, the dynamics is derived using a driven Jacobin matrix, which represents the coupling between the hydraulic servo-driven system and rigid–flexible manipulator established using the assumed mode method and Lagrange principle. Furthermore, the whole dynamic model of the manipulator system is decoupled into a second slow subsystem (SSS), a second fast subsystem (SFS) and a first fast subsystem (FFS). The three subsystems can describe a large range of movement, flexible vibration and electro-hydraulic servo control, respectively. Hereafter, an adaptive dynamic programming trajectory tracking control law with a critic-only policy iteration algorithm is presented in the second slow timescale, while both robust optimal control (ROC) in the second first timescale and adaptive sliding mode control (ASMC) in the first fast timescale are also designed using the Lyapunov stability theory. Finally, the numerical simulations are carried out to illustrate the rightness and robustness of the singular perturbation decomposition and proposed composite control algorithm.
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Research context
OpenAlex topics: Adaptive Dynamic Programming Control · Mechanical Circulatory Support Devices · Adaptive Control of Nonlinear Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechanical and Electrical Engineering, Quzhou College of Technology, Quzhou 324000, China
Quzhou Special Equipment Inspection Center, Quzhou 324000, China
College of Communication Engineering, Jilin University, Changchun 130022, China
Funding
Natural Science Foundation of Jilin Province · Science Research Planning Project of Jilin Province Department of Education · Guiding Project for Tackling Key Scientific and Technological Problems in Quzhou · Zhejiang Province Basic Public Welfare Research Project
References (37)
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