Robust Optimal Control for Cable-Driven Parallel Robots via Event-Triggered ADP

被引:0
作者
Lu, Yingbo [1 ]
Li, Pengfei [1 ]
Huang, Ao [1 ]
Shen, Yilong [1 ]
Wang, Xingyu [1 ]
机构
[1] Zhengzhou Univ Light Ind, Dept Elect & Informat Engn, Zhengzhou 450001, Henan, Peoples R China
来源
IEEE ACCESS | 2024年 / 12卷
基金
中国国家自然科学基金;
关键词
Performance analysis; Robust control; Optimal control; Vectors; Parallel robots; Jacobian matrices; Uncertainty; Stability criteria; Iterative algorithms; Games; ADP; event triggered mechanism; CDPRs; robust control; NONLINEAR-SYSTEMS; TRACKING CONTROL; ALGORITHM; DESIGN; GAMES;
D O I
10.1109/ACCESS.2024.3471798
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Based on adaptive dynamic programming (ADP) method and the event-triggered mechanism, this paper proposes a robust control method for the cable-driven parallel robots (CDPRs) with external disturbances and cable tension constraint. First, by introducing external disturbances into the performance index function, the robust control problem of CDPRs is transformed into the design of an optimal controller. Then, based on the event-triggered mechanism, the critic network, actor network, and disturbance network are constructed to approximate the performance index function, optimal controller, and external disturbance of the system respectively. Additionally, the null-space redistribution method is utilized to optimize the cable tension. Finally, the Lyapunov method is employed to demonstrate the stability of the closed-loop system, and the effectiveness and superiority of the event-triggered ADP control algorithm are verified through simulations.
引用
收藏
页码:145038 / 145053
页数:16
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