Reinforcement Learning-Based Prescribed Performance Motion Control of Pneumatic Muscle Actuated Robotic Arms With Measurement Noises.
Gendi LiuNing SunTong YangYongchun FangPublished in: IEEE Trans. Syst. Man Cybern. Syst. (2023)
Keyphrases
- motion control
- real robot
- reinforcement learning
- mobile robot
- robot control
- robot arm
- control system
- force control
- motor control
- control law
- autonomous robots
- robotic systems
- closed loop
- control scheme
- control policies
- multi robot
- control strategy
- function approximation
- real world
- visual servoing
- real time
- humanoid robot
- control algorithm
- degrees of freedom
- path planning
- robot manipulators
- motion planning
- markov decision processes
- model free
- state space
- learning algorithm
- autonomous navigation
- kinematic model
- pid controller
- image space
- physical constraints
- optimal control
- dynamic environments
- vision system
- computer vision
- neural network