Cooperative differential game-based approximate optimal tracking control for reconfigurable robot

In this paper, a cooperative differential game-based approximate optimal tracking control method is proposed for the reconfigurable robot system. The reconfigurable robot system's dynamic model is expressed by the subsystem's formulation. According to the adaptive dynamic programming (ADP) approach, the approximate optimal tracking control policy is developed by a fuzzy logic-based cooperative differential game manner for addressing the coupled HJB equation. Then, the closed-loop robotic system is proved to be asymptotically stable according to the Lyapunov theorem. At last, two types of simulation results have proved the effectiveness as well as the advantage of the proposed cooperative differential game-based approximate optimal tracking control method.