Robotic Tracking Control with Kernel Trick-based Reinforcement Learning
文献类型：会议论文
| 作者 | Hu YZ(胡亚洲)1,3 ; Wang WX(王文学)3; Liu, Hao2; Liu LQ(刘连庆)3
|
| 出版日期 | 2019 |
| 会议日期 | November 3-8, 2019 |
| 会议地点 | Macau, China |
| 页码 | 997-1002 |
| 英文摘要 | In recent years, reinforcement learning has been developed dramatically and is widely used to solve control problems, e.g., playing games. However, there are still some problems for reinforcement learning to perform robotic control tasks. Fortunately, the kernel trick-based methods provide a chance to deal with those challenges. This work aims at developing a kernel trick-based learning control method to carry out robotic tracking control tasks. A reward system, in this work, is presented in order to speed up the learning processes. And then, a kernel trick-based reinforcement learning tracking controller is presented to perform tracking control tasks on a robotic manipulator system. To evaluate the policy and assist the reward system to accelerate the speed of finding the optimal control policy, a critic system is introduced. Finally, from the comparison with the benchmark, the simulation results illustrate that our algorithm has faster convergence rate and can execute tracking control tasks effectively, the reward function and the critic system proposed in this work is efficient. |
| 产权排序 | 1 |
| 会议录 | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISSN号 | 2153-0858 |
| ISBN号 | 978-1-7281-4004-9 |
| WOS记录号 | WOS:000544658400105 |
| 源URL | [http://ir.sia.cn/handle/173321/26426]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Wang WX(王文学) |
| 作者单位 | 1.University of Chinese Academy of Sciences, Beijing, 100049, China 2.Georgia Institute of Technology, Department of Mathematics, Atlanta, GA 30332, United States 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016 China |
| 推荐引用方式 GB/T 7714 | Hu YZ,Wang WX,Liu, Hao,et al. Robotic Tracking Control with Kernel Trick-based Reinforcement Learning[C]. 见:. Macau, China. November 3-8, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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