Reinforcement Learning-Based Minimum Energy Position Control of Dielectric Elastomer Actuators.
Paolo Roberto MassenioGianluca RizzelloGiuseppe ComitangeloDavid NasoStefan SeeleckePublished in: IEEE Trans. Control. Syst. Technol. (2021)
Keyphrases
- minimum energy
- position control
- reinforcement learning
- control system
- degrees of freedom
- control strategies
- closed loop
- robotic manipulator
- control scheme
- low energy
- force control
- function approximation
- state space
- dc motor
- end effector
- pid controller
- learning algorithm
- model free
- robot arm
- control strategy
- fuzzy logic
- real time
- motion planning
- fine grained
- vision system
- control algorithm
- operating conditions
- multiple models
- mathematical model
- pose estimation
- computer vision