Actor-Critic Design-Based Coordinated Constrained Control for a Dual-Arm Robot with Coupled Output Constraint

In this paper, an actor-critic (AC) design-based method is proposed to address the tracking problem of a dualarm robot (DAR) with input saturation and coupled output constraint. In critic network, to evaluate the control performance, a cost function is established based on tracking errors. Guided by the critic results, actor network is utilized to optimize the control input such that the DAR can obtain better tracking performance. In the actor network, a decoupling method is adopted to transform the coupled output constraint into independent constraint on each position state. Accordingly, a barrier Lyapunov function-based method is introduced to handle the output constrained problem. An auxiliary variable is also introduced to cope with the saturated input. Moreover, a Lyapunov direct method is adopted to analyze the stability of the DAR. Finally, numerical simulations are conducted to further verify the feasibility of the proposed control.