Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input

In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback technique, dynamics model of subsystem established and global state space equation derived. The inputs n joints in MRM with are taken as participants game, problem manipulator transformed into game. Next, fusion function containing position velocity errors defined construct performance index function. order improve robustness system, part known information used devise controller, uncertainty dealt by neural network (NN) observer, compensation strategy deal internal disturbance such sensor measurement error transmission ripple due power fluctuations, electromagnetic effects, noise vibration. Based adaptive dynamic programming algorithm mechanism, obtained approximately solving Hamilton-Jacobi-Bellman critic NN. Lyapunov theory proves that trajectory uniformly ultimately bounded. Finally, experimental results demonstrate effectiveness proposed method.