Q-learning-based model predictive variable impedance control for physical human-robot collaboration

DOI10.1016/J.ARTINT.2022.103771MaRDI QIDQ2093371zbMATH OpenOpenAlexFDO

Authors Loris Roveda, Andrea Testa, Asad Ali Shahid, Francesco Braghin, Dario Piga

Publication date 8 November 2022

Published in Artificial Intelligence (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1016/j.artint.2022.103771

zbMATH Keywords

industry 4.0machine learningmodel-based reinforcement learning controlneural networksphysical human-robot collaborationQ-learningstabilityvariable impedance control

Mathematics Subject Classification ID

Artificial intelligence (68Txx)

Cites work

• \({\mathcal Q}\)-learning
• A `universal' construction of Artstein's theorem on nonlinear stabilization
• A receding horizon generalization of pointwise min-norm controllers
• A single network adaptive critic (SNAC) architecture for optimal control synthesis for a class of nonlinear systems
• Inverse Optimality in Robust Stabilization
• Lyapunov stability theory of nonsmooth systems
• Lyapunov-Based Model Predictive Control of Nonlinear Systems Subject to Data Losses
• Modelling and control of robot manipulators.
• Nonlinear model predictive control. Theory and algorithms
• Nonlinear Systems Analysis
• On the stability of receding horizon control with a general terminal cost
• Predictive control of switched nonlinear systems with scheduled mode transitions
• Stabilization of nonlinear systems with state and control constraints using Lyapunov-based predictive control
• Stabilization with relaxed controls
• Unconstrained receding-horizon control of nonlinear systems

Cited in

(2)

• Robust adaptive nonlinear admittance control of robotic manipulators with extra-intra uncertainties and disturbances
• Human-centered active torque-based AAN impedance control for lower limb patient-exoskeleton coupling system in the rehabilitation

Describes a project that uses

Uses Software

• Adam

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