دورية أكاديمية
Model predictive control for constrained robot manipulator visual servoing tuned by reinforcement learning
| العنوان: | Model predictive control for constrained robot manipulator visual servoing tuned by reinforcement learning |
|---|---|
| المؤلفون: | Jiashuai Li, Xiuyan Peng, Bing Li, Victor Sreeram, Jiawei Wu, Ziang Chen, Mingze Li |
| المصدر: | Mathematical Biosciences and Engineering, Vol 20, Iss 6, Pp 10495-10513 (2023) |
| بيانات النشر: | AIMS Press, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Biotechnology LCC:Mathematics |
| مصطلحات موضوعية: | robot manipulator, image-based visual servoing, model predictive control, reinforcement learning, Biotechnology, TP248.13-248.65, Mathematics, QA1-939 |
| الوصف: | For constrained image-based visual servoing (IBVS) of robot manipulators, a model predictive control (MPC) strategy tuned by reinforcement learning (RL) is proposed in this study. First, model predictive control is used to transform the image-based visual servo task into a nonlinear optimization problem while taking system constraints into consideration. In the design of the model predictive controller, a depth-independent visual servo model is presented as the predictive model. Next, a suitable model predictive control objective function weight matrix is trained and obtained by a deep-deterministic-policy-gradient-based (DDPG) RL algorithm. Then, the proposed controller gives the sequential joint signals, so that the robot manipulator can respond to the desired state quickly. Finally, appropriate comparative simulation experiments are developed to illustrate the efficacy and stability of the suggested strategy. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1551-0018 |
| Relation: | https://doaj.org/toc/1551-0018 |
| DOI: | 10.3934/mbe.2023463?viewType=HTML |
| DOI: | 10.3934/mbe.2023463 |
| URL الوصول: | https://doaj.org/article/593a990c40f04da6a10ef5ccd2ad8788 |
| رقم الأكسشن: | edsdoj.593a990c40f04da6a10ef5ccd2ad8788 |
| قاعدة البيانات: | Directory of Open Access Journals |
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