An approximate optimal control issue for modular unmanned systems (MUSs) is presented via a cooperative differential game for solving the trajectory tracking problem. Initially, the modular unmanned system’s dynamic model is built with the joint torque feedback technique. The moment of inertia of the motor rotor has positive symmetry. Each MUS module is deemed as a participant in the cooperative differential game. Then, the MUS trajectory tracking problem is transformed into an approximate optimal control problem by means of adaptive critic design (ACD). The approximate optimal control is obtained by the critic network, approaching the joint performance index function of the system. The stability of the closed-loop system is proved through Lyapunov theory. The feasibility of the proposed control algorithm is verified by an experimental platform.
Loading....