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Fictitious play based Markov game control for robotic arm manipulator
R. Sharma,
Published in Institute of Electrical and Electronics Engineers Inc.
Markov games can be used as a platform to deal with exogenous disturbances and parametric variations. In this work an attempt has been made to achieve a superior performance with fuzzy Markov game based control by hybridizing two game theory based approaches of 'fictitious play' and 'minimax'. The work attempts a 'safe yet consistent' Markov game controller which advocates a minimax policy during the startup control stages and later moves to a more enterprising policy based on stochastic fictitious play. The proposed controller addresses continuous state action space problems wherein we use fuzzy inference system as a universal approximator for generalization with a proportional derivative control in the nested position tracking loop. The proposed controller is simulated on a two link robot and its performance compared against fuzzy Markov game control and fuzzy Q control. Simulation results elucidate the fact that proposed control scheme leads to an improved controller with lower tracking error and torque requirements. © 2014 IEEE.
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Published in Institute of Electrical and Electronics Engineers Inc.
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