使用RNN和预训练的网络运动控制系统的数据驱动自动触发控制:一个层次的强化学习框架
Wei Chen1, Haiying Wan1, Xiaoli Luan1
1Key Laboratory of Advanced Process Control for Light Industry, Institute of Automation, Jiangnan University, Wuxi 214122, China.
Sensors (Basel, Switzerland)
|March 28, 2024
概括
本研究提出了一种用于网络运动控制的新型层次增强学习方法. 这种方法提高了自动触发控制系统的学习效率和准确性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 联网的电机控制系统需要高效和准确的控制政策.
- 传统的控制方法可以与这些系统的复杂性和动态性质作斗争.
- 层次增强学习为提高控制系统性能提供了一个有希望的途径.
研究的目的:
- 引入一种新的数据驱动自动触发控制方法,使用层次强化学习.
- 提高网络电机控制系统中控制政策的效率和准确性.
- 通过分层的政策结构,减少探索空间并改善学习过程.
主要方法:
- 一个分层的强化学习框架与更高和更低层的政策被开发出来.
- 双演员批评算法与相互连接的神经网络集成,以接近政策.
- 经常性神经网络被用于关键架构,以捕捉时间依赖.
- 引入了控制政策网络的预培训方法,以提高学习效率.
主要成果:
- 层次结构有效地指导了较低级别的政策决策,减少了探索.
- 使用反复的神经网络提高了批评者在近似成本函数的准确性.
- 综合数据驱动框架显示提高了学习效率.
- 数字模拟验证了拟议的自触发控制方法的有效性.
结论:
- 提出的数据驱动,层次化的强化学习方法显著改善了网络电机系统中的自触发控制.
- 多层次的政策设计和反复的神经网络批评架构提高了学习效率和准确性.
- 这种方法为网络电机应用中的复杂控制挑战提供了强大的解决方案.
相关概念视频
01:18Hierarchy of Motor Control
2.7K
The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
2.7K
01:26Feedback control systems
307
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
307
01:07Time-Domain Interpretation of PD Control
105
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
105
01:19PID Controller
117
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
117
01:26PD Controller: Design
224
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
224
01:17Open and closed-loop control systems
737
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
737