Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning.
Andrea CenturelliLuca ArleoAlessandro RizzoSilvia ToluCecilia LaschiEgidio FaloticoPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- closed loop
- control system
- trajectory tracking
- open loop
- feedback control
- reinforcement learning
- force control
- control scheme
- control law
- fault detection and isolation
- control loop
- guaranteed cost
- control method
- disturbance rejection
- pid controller
- robotic manipulator
- control strategies
- inverted pendulum
- control strategy
- adaptive control
- parameter identification
- intelligent control
- fuzzy logic
- robot manipulators
- asymptotic stability
- reference trajectory
- external disturbances
- induction motor
- dynamic model
- optimal control
- position control
- neural network controller
- control algorithm
- dc motor
- sliding mode
- robot control
- bi directional
- iterative learning
- feedback controller
- control theory
- controller design
- iterative learning control
- dynamic environments
- networked control systems
- fuzzy controller
- inverse kinematics
- physical constraints
- state space
- real time