Abstract:In this paper, the position–force–based approximate optimal control method is developed for reconfigurable robots using zero-sum game strategy. By utilizing the Newton–Euler iteration technique, the robotic system’s dynamic model is formulated and the state space equation is derived. According to adaptive dynamic programming (ADP) and neural network algorithm, the trajectory tracking control problem is transformed into a zero-sum game-based optimal control issue. The optimal control policy and worst disturbanc… Show more
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