Decentralized approximated optimal control for modular robot manipulations with physical human–robot interaction: a cooperative game-based strategy

Major challenges of controlling physical human–robot interaction (pHRI)-oriented modular robot manipulator (MRM) include performance optimization and solving the coupling effect between the human and the robot as well as MRM subsystems. In this paper, a cooperative game-based decentralized optimal c...

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Bibliographic Details
Published in:	Nonlinear dynamics Vol. 112; no. 9; pp. 7145 - 7158
Main Authors:	An, Tianjiao, Zhu, Xinye, Ma, Bing, Zhu, Mingchao, Dong, Bo
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.05.2024 Springer Nature B.V
Subjects:	Algorithms Approximation Automotive Engineering Classical Mechanics Control Cooperative control Dynamic models Dynamic programming Dynamical Systems Engineering Game theory Games Mechanical Engineering Neural networks Optimal control Optimization Original Paper Robot arms Robot control Robots Strategy Subsystems Tracking errors Vibration Physical human–robot interaction Adaptive dynamic programming Decentralized control Modular robot manipulators Cooperative game
ISSN:	0924-090X, 1573-269X
Online Access:	Get full text
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