自己平衡型伸縮ホイール式倒立振子系におけるモデルフリー強化学習制御の比較分析
Analysis of Model-Free Reinforcement Learning Control Schemes on self-balancing Wheeled Extendible System
伸縮可能な自己平衡ホイール式倒立振子(E-WIP)に対し、DDPGとPPOによる強化学習制御を実装し、MPCと性能比較した論文。
著者: Kanishk ., Rushil Kumar, Vikas Rastogi, Ajeet Kumar
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear control schemes like H-infinity control and predictive control, the application of Reinforcement Learning(RL) can provide alternative solutions. This article presents the implementation of RL control with Deep Deterministic Policy Gradient and Proximal Policy Optimization on a mobile self-balancing Extendable Wheeled Inverted Pendulum (E-WIP) system with provided state history to attain improved control. Such RL models make the task of finding satisfactory control schemes easier and responding to the dynamics effectively while self-tuning the parameters to provide better control. In this article, RL-based controllers are pitted against an MPC controller to evaluate the performance on the basis of state variables and trajectory errors of the E-WIP system while following a specific desired trajectory.