$\require{mediawiki-texvc}$

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison, Kafe, Webinar 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

제어 장벽함수를 이용한 안전한 행동 영역 탐색과 제어 매개변수의 실시간 적응
Online Adaptation of Control Parameters with Safe Exploration by Control Barrier Function 원문보기

로봇학회논문지 = The journal of Korea Robotics Society, v.17 no.1, 2022년, pp.76 - 85  

김수영 (Dept. of Mechanical Engineering, Ulsan National Institute of Science and Technology) ,  손흥선 (Dept. of Mechanical Engineering, Ulsan National Institute of Science and Technology)

Abstract AI-Helper 아이콘AI-Helper

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best ...

주제어

참고문헌 (29)

  1. F. Berkenkamp, A. P. Schoellig, and A. Krause, "Safe and automatic controller tuning with Gaussian processes," Workshop on Machine Learning in Planning and Control of Robot Motion, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, [Online], https://www.dynsyslab.org/wp-content/papercite-data/pdf/berkenkamp-icra16.pdf. 

  2. N. O. Lambert, D. S. Drew, J. Yaconelli, R. Calandra, S. Levine, and K. S. J. Pister, "Low level control of a quadrotor with deep model-based reinforcement learning," arXiv:1901.03737v2 [cs.RO], 2019, [Online], https://arxiv.org/pdf/1901.03737.pdf. 

  3. F. Berkenkamp, M. Turchetta, A. P. Schoellig, and A. Krause, "Safe model-based reinforcement learning with stability guarantees," IEEE Transactions on Automatic Control, vol. 64, no. 7, Jul., 2017, DOI: 10.1109/TAC.2018.2876389. 

  4. A.Y. Zomaya, "Reinforcement Learning to Adaptive Control of Nonlinear Systems," IEEE Transactions on Systems, Man, and Cybernetics, vol. 24, no. 2, Feb., 1994, DOI: 10.1109/21.281435. 

  5. X.-S. Wang, Y.-H. Cheng, and W. Sun, "A proposal of adaptive PID controller based on reinforcement learning," Journal of China Univ. Mining and Technology, vol. 17, no. 1, 2007, [Online], http://www.paper.edu.cn/scholar/showpdf/MUT2MNzINTD0cx2h. 

  6. M. N. Howell and M. C. Best, "On-line PID tuning for engine idle-speed control using continuous action reinforcement learning automata," Control Engineering Practice, vol. 8, no. 2, Feb., 2000, DOI: 10.1016/S0967-0661(99)00141-0. 

  7. Z. S. Jin, H. C. Li, and H. M. Gao, "An intelligent weld control strategy based on reinforcement learning approach," The International Journal of Advanced Manufacturing Technology, Feb., 2019, DOI: 10.1007/s00170-018-2864-2. 

  8. M. Sedighizadeh and A. Rezazadeh, "Adaptive PID Controller based on Reinforcement Learning for Wind Turbine Control," World Academy of Science, Engineering and Technology, 2008, DOI: 10.5281/zenodo.1057789. 

  9. J. Achiam, D. Held, A. Tamar, and P. Abbeel, "Constrained policy optimization," arXiv:1705.10528v1 [cs.LG], 2017, [Online], https://arxiv.org/pdf/1705.10528.pdf. 

  10. S. Gangapurwala, A. Mitchell, and I. Havoutis, "Guided constrained policy optimization for dynamic quadrupedal robot locomotion," IEEE Robotics and Automation Letters, vol. 5, no. 2, Apr., 2020, DOI: 10.1109/LRA.2020.2979656. 

  11. F. Berkenkamp, A. P. Schoellig, and A. Krause, "Safe controller optimization for quadrotors with Gaussian processes," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016, DOI: 10.1109/ICRA.2016.7487170. 

  12. Y. Sui, A. Gotovos, J. W. Burdick, and A. Krause, "Safe exploration for optimization with Gaussian processes," 32nd International Conference on Machine Learning, 2015, [Online], http://proceedings.mlr.press/v37/sui15.pdf. 

  13. A. K. Akametalu, J. F. Fisac, J. H. Gillula, S. Kaynama, M. N. Zeilinger, and C. J. Tomlin, "Reachability-based safe learning with Gaussian processes," 53rd IEEE Conference on Decision and Control, Los Angeles, CA, USA, 2014, DOI: 10.1109/CDC.2014.7039601. 

  14. A. Aswani, H. Gonzalez, S. S. Sastry, and C. Tomlin, "Provably safe and robust learning-based model predictive control," Automatica, vol. 49, no. 5, May, 2013, DOI: 10.1016/j.automatica.2013.02.003. 

  15. T. M. Moldovan and P. Abbeel, "Safe exploration in Markov decision processes," arXiv:1205.4810v3 [cs.LG], 2012, [Online], https://arxiv.org/pdf/1205.4810.pdf. 

  16. A. M. Lyapunov, The General Problem of the Stability of Motion, Taylor and Francis Ltd, London, UK, 1992, [Online], https://citeseerx.ist.psu.edu/viewdoc/download?doi10.1.1.910.9566&reprep1&typepdf. 

  17. A. D. Ames, X. Xu, J. W. Grizzle, and P. Tabuada, "Control barrier function based quadratic programs for safety critical systems," IEEE Transactions on Automatic Control, vol. 62, no. 8, Aug., 2017, DOI: 10.1109/TAC.2016.2638961. 

  18. K. Galloway, K. Sreenath, A. D. Ames, and J. W. Grizzle, "Torque saturation in bipedal robotic walking through control Lyapunov function-based quadratic programs," IEEE Access, vol. 3, pp. 323-332, 2015, DOI: 10.1109/ACCESS.2015.2419630. 

  19. A. D. Ames and M. Powell, "Towards the unification of locomotion and manipulation through control Lyapunov functions and quadratic programs," Control of Cyber-Physical Systems, vol. 449, 2013, DOI: 10.1007/978-3-319-01159-2_12. 

  20. B. J. Morris, M. J. Powell, and A. D. Ames, "Continuity and smoothness properties of nonlinear optimization-based feedback controllers," 2015 54th IEEE Conference on Decision and Control (CDC), 2015, DOI: 10.1109/CDC.2015.7402101. 

  21. A. Vahidi and A. Eskandarian, "Research advances in intelligent collision avoidance and adaptive cruise control," IEEE Trans. Intell. Transp. Syst., vol. 4, no. 3, pp. 143-153, Sep. 2003. DOI: 10.1109/TITS.2003.821292. 

  22. S. Li, K. Li, R. Rajamani, and J. Wang, "Model predictive multiobjective vehicular adaptive cruise control," IEEE Transactions on Control Systems Technology, vol. 19, no. 3, pp. 556-566, 2011, DOI: 10.1109/TCST.2010.2049203. 

  23. G. J. L. Naus, J. Ploeg, M. J. G. Van de Molengraft, W. P. M. H. Heemels, and M. Steinbuch, "Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach," Control Engineering Practice, vol. 18, no. 8, pp. 882-892, Aug., 2010, DOI: 10.1016/j.conengprac.2010.03.012. 

  24. P. A. Ioannou and C. C. Chien, "Autonomous intelligent cruise control," IEEE Transactions on Vehicular Technology, vol. 42, no. 4, pp. 657-672, Nov., 1993, DOI: 10.1109/25.260745. 

  25. J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov, "Proximal policy optimization algorithms," arXiv:1707.06347v2 [cs.LG], 2017, [Online], https://arxiv.org/pdf/1707.06347.pdf. 

  26. J.-M. Kai, G. Allibert, M.-D. Hua, and T. Hamel, "Nonlinear feedback control of quadrotors exploiting first-order drag effects," IFAC-PapersOnLine, Jul., 2017, DOI: 10.1016/j.ifacol. 2017.08.1267. 

  27. E. D. Sontag, "A Lyapunov-like stabilization of asymptotic controllability," SIAM Journal of Control and Optimization, vol. 21, no. 3, 1983, DOI: 10.1137/0321028. 

  28. E. Squires, P. Pierpaoli, and M. Egerstedt, "Constructive barrier certificates with applications to fixed-wing aircraft collision avoidance," 2018 IEEE Conference on Control Technology and Applications (CCTA), Aug., 2018, DOI: 10.1109/CCTA.2018.8511342. 

  29. P. Auer. "Using confidence bounds for exploitation-exploration trade-offs," The Journal of Machine Learning Research, vol. 3, pp. 397-422, 2002, [Online], https://www.jmlr.org/papers/volume3/auer02a/auer02a.pdf. 

관련 콘텐츠

오픈액세스(OA) 유형

BRONZE

출판사/학술단체 등이 한시적으로 특별한 프로모션 또는 일정기간 경과 후 접근을 허용하여, 출판사/학술단체 등의 사이트에서 이용 가능한 논문

저작권 관리 안내
섹션별 컨텐츠 바로가기

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

AI-Helper 아이콘
AI-Helper
안녕하세요, AI-Helper입니다. 좌측 "선택된 텍스트"에서 텍스트를 선택하여 요약, 번역, 용어설명을 실행하세요.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.

선택된 텍스트

맨위로