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Summary: In this article, a novel event‐triggered zero‐sum differential game through value iteration (VI)‐based adaptive fuzzy control is proposed for modular robot manipulators (MRMs) with uncertain disturbance. The subsystem dynamic of MRMs is established by joint torque feedback (JTF) technology. An identifier based on fuzzy logic model (FLM) is established to identify unknown system dynamics. Then, the trajectory tracking control issue of MRMs with uncertain disturbance is transformed into a two‐player zero‐sum differential game. On the basis of event‐triggered mechanism and VI algorithm, the event‐triggered Hamilton–Jacobi–Issacs (HJI) equation is approximately solved through establishment of actor‐critic structure. Different from the traditional adaptive dynamic programming (ADP) algorithm, this scheme is based on adaptive fuzzy optimal control through an actor‐critic structure, which refers to adaptation of both optimal cost function and optimal control policy. Moreover, tracking errors of closed‐loop MRM system are demonstrated to be uniformly ultimately bounded (UUB) under Lyapunov stability theorem. At last, experimental examples and comparisons show the reliability and effectiveness of this method. [ABSTRACT FROM AUTHOR]

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 disturbance policy are obtained by Hamilton–Jacobi–Issacs (HJI) function, respectively. Unlike the conventional learning–based robotic control method, the proposed zero-sum game-based method no need extra sub-controller that can reduce the computational burden. The reconfigurable robot system's tracking error is uniformly ultimately bounded by the Lyapunov theorem. Finally, simulation experiments demonstrate the advantages of the proposed method. [ABSTRACT FROM AUTHOR]

Summary: This article presents a multiplayer zero‐sum game optimal control for modular robot manipulators (MRMs) via adaptive dynamic programming (ADP). The dynamic model of MRMs with interconnected dynamic couplings (IDCs) is formulated. The control law and IDC effect are regarded as players in each module. The optimal tracking control problem of the MRM system can be transformed into a multiplayer zero‐sum game. Base on ADP algorithm, the Hamilton–Jacobi–Issacs (HJI) equation is solved via critic neural network. Then, the optimal control law can be derivated. The closed‐loop robotic system is proved to be asymptotic stable and experiments are conducted to verify the effectiveness of the control method. [ABSTRACT FROM AUTHOR]