TY - GEN
T1 - Predictive Control of a Robot Manipulator with Deep Reinforcement Learning
AU - Bejar, Eduardo
AU - Moran, Antonio
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/4/23
Y1 - 2021/4/23
N2 - This paper tackles the problem of trajectory following of a two-link rigid robot manipulator. The proposed controller bases its operation on the idea behind preview control in which the control law is divided in two parts: a feedback component that depends only on the present state of the system, and a predictive component that only uses future values of the reference trajectory. In this sense, the designed controller uses for training and control both present and future states of the system. Simulation results when following a test trajectory are presented to validate the proposed method and to show that the proposed controller exhibits better performance with respect to a neurocontroller that does not use a predictive component neither for training nor control.
AB - This paper tackles the problem of trajectory following of a two-link rigid robot manipulator. The proposed controller bases its operation on the idea behind preview control in which the control law is divided in two parts: a feedback component that depends only on the present state of the system, and a predictive component that only uses future values of the reference trajectory. In this sense, the designed controller uses for training and control both present and future states of the system. Simulation results when following a test trajectory are presented to validate the proposed method and to show that the proposed controller exhibits better performance with respect to a neurocontroller that does not use a predictive component neither for training nor control.
KW - artificial intelligence
KW - control systems
KW - deep learning
KW - reinforcement learning
KW - robotics
UR - http://www.scopus.com/inward/record.url?scp=85114465885&partnerID=8YFLogxK
U2 - 10.1109/ICCAR52225.2021.9463462
DO - 10.1109/ICCAR52225.2021.9463462
M3 - Conference contribution
AN - SCOPUS:85114465885
T3 - 2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021
SP - 127
EP - 130
BT - 2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Control, Automation and Robotics, ICCAR 2021
Y2 - 23 April 2021 through 26 April 2021
ER -