Bilayer nonzero-sum differential game-based optimal control of modular robot manipulator for human–robot collaboration

This paper introduces a bilayer nonzero-sum differential game-based optimal control framework for a Modular Robot Manipulator (MRM) in Human–Robot Collaboration (HRC) tasks. The dynamic model of the MRM is obtained with the Joint Torque Feedback (JTF) technique. Consider the N-player nonzero-sum dif...

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Bibliographic Details
Published in:	European journal of control Vol. 83; p. 101225
Main Authors:	Cui, Yiming, An, Tianjiao, Dong, Bo, Ma, Bing, Zhang, Zhenguo
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.05.2025
Subjects:	Adaptive dynamic programming Fuzzy logic Modular robot manipulator Nonzero-sum differential game Fuzzy logic Modular robot manipulator Nonzero-sum differential game Adaptive dynamic programming
ISSN:	0947-3580
Online Access:	Get full text
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Summary:	This paper introduces a bilayer nonzero-sum differential game-based optimal control framework for a Modular Robot Manipulator (MRM) in Human–Robot Collaboration (HRC) tasks. The dynamic model of the MRM is obtained with the Joint Torque Feedback (JTF) technique. Consider the N-player nonzero-sum differential game within the MRM subsystems and the 2-player nonzero-sum differential game involving both the MRM and human collaborators in HRC tasks as the inner and outer layers of the bilayer nonzero-sum differential game. The Nash equilibrium solutions for the inner and outer layers of the nonzero-sum differential games are independently determined using the Adaptive Dynamic Programming (ADP) algorithm, which is based on a fuzzy logic system. As a result, optimal control policies for MRM subsystems and the optimal interaction force in HRC tasks are derived. The trajectory tracking error of the MRM system and the outer layer physical Human–Robot Interaction (pHRI) system have both been proven to be Ultimately Uniformly Bounded (UUB) under the bilayer nonzero-sum differential game-based optimal control of MRM for HRC with the application of Lyapunov theory. Finally, experiment results are presented to validate the superiority and effectiveness of the proposed method.
ISSN:	0947-3580
DOI:	10.1016/j.ejcon.2025.101225