高技术通讯2023，Vol.33Issue(11)：1181-1191,11.DOI:10.3772/j.issn.1002-0470.2023.11.006
基于非零和博弈的自适应人机协作系统设计
Design of adaptive human-robot coordination system based on non-zero-sum game theory
摘要
Abstract
In order to improve the coordination of human-robot cooperation,this paper proposes an adaptive system of hu-man-robot interaction based on non-zero-sum game.The system consists of inner loop and outer loop which are de-coupled.In the outer loop,the human-robot cooperation control is designed by introducing a non-zero-sum game method,and an energy function about human and robot force is constructed,and the optimal control is achieved by solving the Nash equilibrium.The neural network estimator is employed to update the uncertain parameters in the energy function and estimate the output force of human and robot.By designing the central value of the neural net-work function,the relationship between the robot force and the tracking error is obtained to ensure the tracking per-formance of the method.During the update process,the stiffness coefficient is adaptively adjusted when external force exists,so as to realize the compliance and coordination of human and robot.In addition,a neural network controller is designed in the inner loop,and the radial basis neural network is applied to approximate the unknown robot dynamics model using the collected input and output data of robot system,which improves the tracking accu-racy of the system.Simulation results verify the effectiveness of this method.关键词
人机协作/自适应阻抗控制/非零和博弈/神经网络Key words
human-robot coordination/adaptive impedance control/non-zero-sum game/neural network引用本文复制引用
禹鑫燚,罗惠珍,史栓武,魏岩,欧林林..基于非零和博弈的自适应人机协作系统设计[J].高技术通讯,2023,33(11):1181-1191,11.基金项目
国家自然科学基金(62373329)和浙江省自然科学基金(LY21F030018)资助项目. （62373329）
