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A Reinforcement Learning Neural Network for Robotic Manipulator Control
Hu YZ(胡亚洲)1,2; Si BL(斯白露)1
Department机器人学研究室
Source PublicationNEURAL COMPUTATION
ISSN0899-7667
2018
Volume30Issue:7Pages:1983-2004
Indexed BySCI ; EI
EI Accession number20182605371589
WOS IDWOS:000435657600008
Contribution Rank1
Funding OrganizationNational Key Research and Development Program of China
Abstract

We propose a neural network model for reinforcement learning to control a robotic manipulator with unknown parameters and dead zones. The model is composed of three networks. The state of the robotic manipulator is predicted by the state network of the model, the action policy is learned by the action network, and the performance index of the action policy is estimated by a critic network. The three networks work together to optimize the performance index based on the reinforcement learning control scheme. The convergence of the learning methods is analyzed. Application of the proposed model on a simulated two-link robotic manipulator demonstrates the effectiveness and the stability of the model.

Language英语
WOS SubjectComputer Science, Artificial Intelligence ; Neurosciences
WOS KeywordOUTPUT-FEEDBACK CONTROL ; DISCRETE-TIME-SYSTEMS ; ADAPTIVE-CONTROL ; NONLINEAR-SYSTEMS ; TRACKING CONTROL ; TARGET DETECTION ; DELAY SYSTEMS ; DESIGN
WOS Research AreaComputer Science ; Neurosciences & Neurology
Funding ProjectNational Key Research and Development Program of China[2016YFC0801808]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/22142
Collection机器人学研究室
Corresponding AuthorHu YZ(胡亚洲)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Hu YZ,Si BL. A Reinforcement Learning Neural Network for Robotic Manipulator Control[J]. NEURAL COMPUTATION,2018,30(7):1983-2004.
APA Hu YZ,&Si BL.(2018).A Reinforcement Learning Neural Network for Robotic Manipulator Control.NEURAL COMPUTATION,30(7),1983-2004.
MLA Hu YZ,et al."A Reinforcement Learning Neural Network for Robotic Manipulator Control".NEURAL COMPUTATION 30.7(2018):1983-2004.
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