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Title: Experimental and Analytical Nonzero-Sum Differential Game-Based Control of a 7-DOF Robotic Manipulator
We formulate a Nash-based feedback control law for an Euler-Lagrange system to yield a solution to non-cooperative differential game. The robot manipulators are broadly utilized in industrial units on the account of their reliable, fast, and precise motions, while consuming a significant lumped amount of energy. Therefore, an optimal control strategy needs to be implemented in addressing efficiency issues, while delivering accuracy obligation. As a case study, we here focus on a 7-DOF robot manipulator through formulating a two-player feedback nonzero-sum differential game. First, coupled Euler-Lagrangian dynamic equations of the manipulator are briefly presented. Then, we formulate the feedback Nash equilibrium solution in order to achieve perfect trajectory tracking. Finally, the performance of the Nash-based feedback controller is analytically and experimentally examined. Simulation and experimental results reveal that the control law yields almost perfect tracking and achieves closed-loop stability.  more » « less
Award ID(s):
1823951
NSF-PAR ID:
10211092
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
Proceedings of the ASME Dynamic Systems and Control Conference
Volume:
1
ISSN:
2151-1853
Page Range / eLocation ID:
V001T04A001
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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