coordination13oct14.pdf (191.65 kB)
Reinforcement learning control for coordinated manipulation of multi-robots
journal contribution
posted on 2023-06-09, 09:23 authored by Yanan LiYanan Li, Long Chen, Keng Peng Tee, Qingquan LiIn this paper, coordination control is investigated for multi-robots to manipulate an object with a common desired trajectory. Both trajectory tracking and control input minimization are considered for each individual robot manipulator, such that possible disagreement between different manipulators can be handled. Reinforcement learning is employed to cope with the problem of unknown dynamics of both robots and the manipulated object. It is rigorously proven that the proposed method guarantees the coordination control of the multi-robots system under study. The validity of the proposed method is verified through simulation studies.
History
Publication status
- Published
File Version
- Accepted version
Journal
NeurocomputingISSN
0925-2312Publisher
ElsevierExternal DOI
Volume
170Page range
168-175Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-12-15First Open Access (FOA) Date
2017-12-15First Compliant Deposit (FCD) Date
2017-12-14Usage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC