Discrete-Time Lyapunov based Kinematic Control of Robot Manipulator using Actor-Critic Framework
19 Jul 2020-pp 1-7
TL;DR: A novel Lyapunov stability based discrete-time optimal kinematic control of a robot manipulator using actor-critic (AC) framework is presented and a novel critic weight update law based on Lyap Unov stability is derived, thus ensuring that the weights are updated along the negative gradient of Lyap unov function.
Abstract: Stability and optimality are the two foremost re-quirements for robotic systems that are deployed in critical operations and are to work for long hours or under limited energy resources. To address these, in this work we present a novel Lyapunov stability based discrete-time optimal kinematic control of a robot manipulator using actor-critic (AC) framework. The robot is actuated using optimal joint-space velocity control input to track a time-varying end-effector trajectory in its task space. In comparison to the existing near-optimal kinematic control solutions for robot manipulator under AC framework, proposed controller exhibits guaranteed analytical stability. We derive a novel critic weight update law based on Lyapunov stability, thus ensuring that the weights are updated along the negative gradient of Lyapunov function. This eventually ensures closed-loop system stability and convergence to the optimal control in discrete-time. Extensive simulations are performed on a 3D model of 6-DoF Universal Robot (UR) 10 in Gazebo, followed by implementation on real UR 10 robot manipulator to show the efficacy of the proposed scheme.
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1,677 citations
18 Jul 2021
TL;DR: Zhang et al. as discussed by the authors presented a continuous-time ZNN model to solve the problem of velocity-level minimum joint motion planning and control, and an advanced ten-instant time-discretization formula with higher precision is presented, and five discrete time ZNN models are listed because of the digital hardware's requirements.
Abstract: In recent years, the robotics industry has been a hotspot and provided much convenience in people's daily life. For further research on robots, we introduce the problem of velocity-level minimum joint motion planning and control in this paper. Firstly, by using the Zhang neural network (ZNN) method and the Lagrange multiplier method, a continuous-time ZNN model is presented to solve the problem. Besides, an advanced ten-instant time-discretization formula with higher precision is presented, and five discrete-time ZNN (DTZNN) models are listed because of the digital hardware's requirements. At last, computer and robot experiments verify the effectiveness and feasibility of the presented DTZNN models.
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"Discrete-Time Lyapunov based Kinema..." refers background in this paper
...But this is a notoriously hard non-linear partial difference equation to solve analytically [15]....
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1,677 citations
"Discrete-Time Lyapunov based Kinema..." refers background in this paper
...Now, according to [27], vec(AT ) =K(h,m)vec(A) where, K(h,m) is the commutation matrix for A....
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01 Jan 1992
820 citations