3 results for "Zebin Ji"
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Journal Article Full text
Nonzero-Sum Game-Based Modular Manipulator Optimal Tracking Control: Performance-Index Function Without Control Input
To address the issue that the performance-index function encompassing both dynamic and control processes in traditional adaptive dynamic programming (ADP) cannot be optimized as time approaches infinity, this paper proposes an optimal tracking control method for a modular manipulator based on a…
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Journal Article
Hierarchical approximate optimal coordinated control of modular robot manipulators through Nash-Stackelberg differential game
The hierarchical approximate optimal coordinated control of modular robot manipulators (MRMs) modeled by joint torque feedback is developed via adaptive dynamic programming (ADP). Taking advantage of the Nash-Stackelberg differential game framework, the coordinated control issue is transformed into…
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Journal Article
Adaptive dynamic programming for coordinated control of a dual-arm reconfigurable manipulator with unknown object constraints
Concentrating on various types of grasped objects, this work presents a distributed coordinated control scheme for a dual-arm reconfigurable manipulator (DRM) via adaptive dynamic programming (ADP). Kinematic and force analyses are performed to formulate the dynamics of a single-arm manipulator and…