Reinforcement Learning-Based Model-Free Controller for Feedback Stabilization of Robotic Systems

Author(s):  
Rupam Singh ◽  
Bharat Bhushan
2017 ◽  
Vol 354 (13) ◽  
pp. 5646-5666 ◽  
Author(s):  
Ming-Feng Ge ◽  
Cai-Hua Xiong ◽  
Zhi-Wei Liu ◽  
Jie Liu ◽  
Xiao-Wen Zhao

Author(s):  
Jintao Zhao ◽  
Shuo Cheng ◽  
Liang Li ◽  
Mingcong Li ◽  
Zhihuang Zhang

Vehicle steering control is crucial to autonomous vehicles. However, unknown parameters and uncertainties of vehicle steering systems bring a great challenge to its control performance, which needs to be tackled urgently. Therefore, this paper proposes a novel model free controller based on reinforcement learning for active steering system with unknown parameters. The model of the active steering system and the Brushless Direct Current (BLDC) motor is built to construct a virtual object in simulations. The agent based on Deep Deterministic Policy Gradient (DDPG) algorithm is built, including actor network and critic network. The rewards from environment are designed to improve the effectiveness of agent. Simulations and testbench experiments are implemented to train the agent and verify the effectiveness of the controller. Results show that the proposed algorithm can acquire the network parameters and achieve effective control performance without any prior knowledges or models. The proposed agent can adapt to different vehicles or active steering systems easily and effectively with only retraining of the network parameters.


Author(s):  
Gholamreza Khodamipour ◽  
Saeed Khorashadizadeh ◽  
Mohsen Farshad

Designing observer-controller structures for nonlinear system with unknown dynamics such as robotic systems is among popular research fields in control engineering. The novelty of this paper is in presenting an observer-based model-free controller for robot manipulators using reinforcement learning (RL). The proposed controller calculates the desired motor voltages that fulfil a satisfactory tracking performance. Moreover, the uncertainties and nonlinearities in the observer model and RL controller are estimated and compensated for by using the Fourier series expansion. Simulation results and comparison with the previous related works (extended state observer and radial basis function neural networks) indicate the satisfactory performance of the proposed method.


2019 ◽  
Author(s):  
Leor M Hackel ◽  
Jeffrey Jordan Berg ◽  
Björn Lindström ◽  
David Amodio

Do habits play a role in our social impressions? To investigate the contribution of habits to the formation of social attitudes, we examined the roles of model-free and model-based reinforcement learning in social interactions—computations linked in past work to habit and planning, respectively. Participants in this study learned about novel individuals in a sequential reinforcement learning paradigm, choosing financial advisors who led them to high- or low-paying stocks. Results indicated that participants relied on both model-based and model-free learning, such that each independently predicted choice during the learning task and self-reported liking in a post-task assessment. Specifically, participants liked advisors who could provide large future rewards as well as advisors who had provided them with large rewards in the past. Moreover, participants varied in their use of model-based and model-free learning strategies, and this individual difference influenced the way in which learning related to self-reported attitudes: among participants who relied more on model-free learning, model-free social learning related more to post-task attitudes. We discuss implications for attitudes, trait impressions, and social behavior, as well as the role of habits in a memory systems model of social cognition.


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