Event-triggered nonzero-sum game-based optimal control for reconfigurable robot

An optimal control method of multiplayer nonzero-sum game based on event-triggered mechanism is proposed for reconfigurable robot (RR) systems with uncertain disturbances. On the strength of joint torque feedback (JTF) technique, the dynamic model of the RR system with model uncertainty is established. Considering the control input of the RR system each module as a player in the nonzero-sum game problem, the tracking control problem is transformed into an optimal control issue of a multiplayer nonzero-sum game. Then, the control problem based on static event-triggered is studied in the course of implementation multiplayer nonzero-sum game ADP algorithm. By processing the corresponding coupled HJ equations, a static trigger rule dependent only on the current state is derived. By Lyapunov theory, we prove mathematically that closed-loop system is stable. Finally, the experimental results verify that the proposed strategy has less update times and communication burden while maintaining the control performance.