Control systemsMultiple-modelsInverse modelReal-time systemsSystems with multiple models or multi-controller structure and inverse model represent two of the successful solutions for the real-time control of the nonlinear or multi-regime processes. The use of these structures imposes solving some ...
一般情况下并不能有个很好的inverse dynamic model，因为同样一个轨迹，可以有无穷多组关节运动，所以会...
To verify the effectiveness of the manipulator control using the trained model, the manipulator is controlled to perform continuous motion using the reinforcement learning model based on the given expected trajectory. As shown in Fig. 6, the path obtained based on reinforcement learning is almost ide...
So, the proposed control strategy combines the merits of adaptive inverse control feedforward compensator and improved internal model control. The combined strategy is programmed in MATLAB/Simulink, and then is compiled to a real-time PC system with xPC target technology for implementation. The ...
In recent years, applications of inverse model-based control techniques have experienced significant growth in popularity and have been widely used in engineering applications, mainly in nonlinear control system design problems. In this study, a novel fuzzy internal model control (IMC) structure is pre...
如果我们把模仿学习中的专家策略轨迹当作真样本,然后通过生成对抗式训练去逼近专家策略呢?这就是GAIL。值得注意的是其中生成对抗训练的细节,生成器是某种策略搜索算法(TRPO,PPO或者model-based等等),用判别器对生成样本的分数log(D_{\phi}(s,a))作为回报。算法示意图和伪码如下:...
Human motor control strategies can also be used to replicate human-like movement on humanoid and other robot platforms4,5, and machines that interact with humans in social environments benefit from a model of human behaviour to predict their future actions6,7,8. The theory of task optimisation ...
Generalized inverse kinematics to plan a joint-space trajectory with multiple constraints. You can use Robotics System Toolbox™ and Simscape Multibody™ for IK using numerical calculation. Related workflows include: Creating a rigid body tree robot model ...
Internal Model Control (IMC) structure based PID controller is designed to carry out the closed loop study. The stability analysis is done using dual-locus diagram. The closed loop performance and the robustness of the proposed scheme for model structure mismatch are also discussed. At last, the...
Conventional optical elements that control the polarization, phase and amplitude of electromagnetic (EM) radiation such as lenses, polarizers, beamsplitters, and mirrors are typically engineered at a scale much larger than the wavelength. Within the last two decades, significant amount of research has...