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Reinforcement learning control of a flexible two-link manipulator: an experimental investigation

He, Wei; Gao, Hejia; Zhou, Chen; Yang, Chenguang; Li, Zhijun

Reinforcement learning control of a flexible two-link manipulator: an experimental investigation Thumbnail


Authors

Wei He

Hejia Gao

Chen Zhou

Zhijun Li



Abstract

This article discusses the control design and experiment validation of a flexible two-link manipulator (FTLM) system represented by ordinary differential equations (ODEs). A reinforcement learning (RL) control strategy is developed that is based on actor-critic structure to enable vibration suppression while retaining trajectory tracking. Subsequently, the closed-loop system with the proposed RL control algorithm is proved to be semi-global uniform ultimate bounded (SGUUB) by Lyapunov's direct method. In the simulations, the control approach presented has been tested on the discretized ODE dynamic model and the analytical claims have been justified under the existence of uncertainty. Eventually, a series of experiments in a Quanser laboratory platform are investigated to demonstrate the effectiveness of the presented control and its application effect is compared with PD control.

Citation

He, W., Gao, H., Zhou, C., Yang, C., & Li, Z. (2020). Reinforcement learning control of a flexible two-link manipulator: an experimental investigation. IEEE Transactions on Systems Man and Cybernetics: Systems, 1-11. https://doi.org/10.1109/tsmc.2020.2975232

Journal Article Type Article
Acceptance Date Jan 1, 2020
Online Publication Date Mar 5, 2020
Publication Date Mar 5, 2020
Deposit Date Mar 29, 2020
Publicly Available Date Apr 20, 2020
Journal IEEE Transactions on Systems, Man, and Cybernetics: Systems
Print ISSN 2168-2216
Electronic ISSN 2168-2232
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Pages 1-11
DOI https://doi.org/10.1109/tsmc.2020.2975232
Keywords Control and Systems Engineering; Human-Computer Interaction; Electrical and Electronic Engineering; Software; Computer Science Applications
Public URL https://uwe-repository.worktribe.com/output/5827665

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