Compensator-critic structure-based neuro-optimal control of modular robot manipulators with uncertain environmental contacts using non-zero-sum games

作者：

Highlights：

• It is the first time of expanding non-sum-zero game into optimal control of MRMs.

• A novel compensator-critic structure-based neuro-optimal control method is presented.

• The advantage verification of the developed method is proposed via experiments.

摘要

•It is the first time of expanding non-sum-zero game into optimal control of MRMs.•A novel compensator-critic structure-based neuro-optimal control method is presented.•The advantage verification of the developed method is proposed via experiments.

论文关键词：Modular robot manipulators,Adaptive dynamic programming,Non-zero-sum differential games,Optimal control,Neural networks

论文评审过程：Received 13 January 2021, Revised 16 April 2021, Accepted 28 April 2021, Available online 30 April 2021, Version of Record 4 May 2021.

论文官网地址：https://doi.org/10.1016/j.knosys.2021.107100