Multiagent-Reinforcement-Learning-Based Stable Path Tracking Control for a Bionic Robotic Fish With Reaction Wheel
文献类型：期刊论文
| 作者 | Qiu, Changlin1,3 ; Wu, Zhengxing1,3; Wang, Jian1,3; Tan, Min1,3; Yu, Junzhi2,3,4
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2023-12-01 |
| 卷号 | 70期号:12页码:12670-12679 |
| 关键词 | Multiagent reinforcement learning (MARL) path tracking control reaction wheel robotic fish underwater robot |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2023.3239937 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | The path tracking of the robotic fish is a hotspot with its high maneuverability and environmental friendliness. However, the periodic oscillation generated by bionic fish-like propulsion mode may lead to unstable control. To this end, this article proposes a novel framework involving a newly designed platform and multiagent reinforcement learning (MARL) method. First, a bionic robotic fish equipped with a reaction wheel is developed to enhance the stability. Second, an MARL-based control framework is proposed for the cooperative control of tail-beating and reaction wheel. Correspondingly, a hierarchical training method including initial training and iterative training is designed to deal with the control coupling and frequency difference between two agents. Finally, extensive simulations and experiments indicate that the developed robotic fish and the proposed MARL-based control framework can effectively improve the accuracy and stability of path tracking. Remarkably, headshaking is reduced about 40%. It provides a promising reference for the stability optimization and cooperative control of bionic swimming robots featuring oscillatory motions. |
| WOS关键词 | ATTITUDE |
| 资助项目 | National Natural Science Foundation of China[62233001] ; National Natural Science Foundation of China[62203436] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[62273351] ; National Natural Science Foundation of China[62203015] ; Ministry of Education for Equipment Pre-Research[8091B022134] ; Samp;T Program of Hebei[F2020203037] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001013415800076 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Ministry of Education for Equipment Pre-Research ; Samp;T Program of Hebei |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54110]  |
| 专题 | 复杂系统认知与决策实验室 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Peking Univ, Coll Engn, Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Guangdong Ocean Univ, Coll Elect & Informat Engn, Zhanjiang 524088, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qiu, Changlin,Wu, Zhengxing,Wang, Jian,et al. Multiagent-Reinforcement-Learning-Based Stable Path Tracking Control for a Bionic Robotic Fish With Reaction Wheel[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(12):12670-12679. |
| APA | Qiu, Changlin,Wu, Zhengxing,Wang, Jian,Tan, Min,&Yu, Junzhi.(2023).Multiagent-Reinforcement-Learning-Based Stable Path Tracking Control for a Bionic Robotic Fish With Reaction Wheel.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(12),12670-12679. |
| MLA | Qiu, Changlin,et al."Multiagent-Reinforcement-Learning-Based Stable Path Tracking Control for a Bionic Robotic Fish With Reaction Wheel".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.12(2023):12670-12679. |
入库方式： OAI收割
来源：自动化研究所
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