Proceedings ArticleDOI
Fictitious play based Markov game control for robotic arm manipulator
Rajneesh Sharma,M. Gopal +1 more
- pp 1-6
TLDR
The work attempts a `safe yet consistent' Markov game controller which advocates a minimax policy during the startup control stages and later moves to a more enterprising policy based on stochastic fictitious play.Abstract:
Markov games can be used as a platform to deal with exogenous disturbances and parametric variations. In this work an attempt has been made to achieve a superior performance with fuzzy Markov game based control by hybridizing two game theory based approaches of ‘fictitious play’ and ‘minimax’. The work attempts a ‘safe yet consistent’ Markov game controller which advocates a minimax policy during the startup control stages and later moves to a more enterprising policy based on stochastic fictitious play. The proposed controller addresses continuous state action space problems wherein we use fuzzy inference system as a universal approximator for generalization with a proportional derivative control in the nested position tracking loop. The proposed controller is simulated on a two link robot and its performance compared against fuzzy Markov game control and fuzzy Q control. Simulation results elucidate the fact that proposed control scheme leads to an improved controller with lower tracking error and torque requirements.read more
Citations
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Journal ArticleDOI
Analytical and experimental nonzero-sum differential game-based control of a 7-DOF robotic manipulator:
TL;DR: A Nash-based feedback control law is formulated for an Euler–Lagrange system to yield a solution to noncooperative differential game.
Book ChapterDOI
On the Combination of Game-Theoretic Learning and Multi Model Adaptive Filters
TL;DR: In this paper, a novel variant of fictitious play is proposed, by considering multi-model adaptive filters as a method to estimate other players' strategies, which can be used as a coordination mechanism between players when they should take decisions under uncertainty.
References
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P.Y. Glorennec,Lionel Jouffe +1 more
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