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Aggressive and robust low-level control and trajectory tracking for quadrotors with deep reinforcement learning

Neural Computing and Applications 2025年第3期37卷 1223-1240页

作者： Chen, Shiyu Li, Yanjie Lou, Yunjiang Lin, Ke Department of Control Science and Engineering Harbin Institute of Technology Shenzhen Shenzhen518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

Executing accurate trajectory tracking tasks using a high-performance low-level controller is crucial for quadrotors to be applied in various scenarios, especially those involving uncertain disturbances. However, due to the uncertainties in disturbed environments, developing effective low-level controllers with traditional model-based control schemes is challenging. This paper presents an aggressive and robust reinforcement learning (RL)-based low-level control policy for quadrotors. The policy maps the observed quadrotor state directly to motor thrust commands, without requiring the quadrotor dynamics. Additionally, a trajectory generation pipeline is developed to improve the accuracy of trajectory tracking tasks based on differential flatness. With the learned low-level control policy, extensive simulations and real-world experiments are implemented to validate the performance of the policy. The results indicate that our RL-based low-level control policy outperforms traditional proportional–integral–derivative (PID) control methods and related learning-based policies in terms of accuracy and robustness, particularly in environments with uncertain disturbances. Furthermore, the proposed RL-based control policy exhibits an aggressive response in trajectory tracking, even when the speed of the desired trajectory is increased to 6 m/s. Moreover, the learned policy demonstrates strong vibration suppression capabilities and enables the quadrotor to recover to a hovering state from random initial conditions with shorter response time. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Deep reinforcement learning

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A Position-Force control Approach for an Underwater Vehicle-Manipulator System

A Position-Force Control Approach for an Underwater Vehicle-...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Kabanov, Aleksey A. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9798350382457

The paper proposes an approach to position-force control in the underwater vehicle-manipulator systems. There are two different strategies to realize position-force control systems: through a decoupled or coupled controller. The first one is more flexible and is used in the present article as a PID-controllers array. The paper considers the generalized system design methodology applicable to control objects of any kinematic structure. Compensation blocks for manipulator disturbances and calculation of additional end-effector offset to maintain a constant force on the operating point are proposed. The system also utilizes the desired underwater vehicle position calculation based on the relativity of the vehicle position and operating point for a heading set point. The modeling results showed that the system is able to perform qualitatively force operations in a given point of the working space. In addition, the graphs revealed the compensator unit efficiency and confirmed the necessity of the additional offset calculation unit. © 2023 IEEE.

关键词： Manipulators

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Kabanov, Aleksey A. Lipko, Ivan Y. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg-Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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A practical PID variable stiffness control and its enhancement for compliant force-tracking interactions with unknown environments

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Science China(Technological Sciences) 2023年第10期66卷 2882-2896页

作者： ZHANG Xin ZHOU Hao LIU JinGuo JU ZhaoJie LENG YuQuan YANG ChenGuang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China School of Computing University of PortsmouthPortsmouth PO13HEUK Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Compliant interaction control is a key technology for robots performing contact-rich manipulation *** design of the compliant controller needs to consider the robot hardware because complex control algorithms may not be compatible with the hardware performance,especially for some industrial robots with low bandwidth *** paper focuses on effective and easy-to-use compliant control algorithms for position/velocity-controlled *** by human arm stiffness adaptation behavior,a novel variable target stiffness(NVTS)admittance control strategy is proposed for adaptive force tracking,in which a proportional integral derivative(PID)variable stiffness law is designed to update the stiffness coefficient of the admittance function by the force and position ***,its stability and force-tracking capability are theoretically *** addition,an impact compensator(Impc)is integrated into the NVTS controller to enhance its disturbance-suppression capability when the robot is subjected to strong vibration disturbances in complicated surface polishing *** proposed controllers are validated through four groups of experimental tests using different robots and the corresponding results demonstrate that they have high-accuracy tracking capability and strong adaptability in unknown environments.

关键词： compliant interaction control force tracking PID variable stiffness impact compensator unknown environments

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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2024 IEEE International Conference on Real-Time Computing and robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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Towards Disturbance Rejection in Feature Pyramid Network

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2023年第4期4卷 946-958页

作者： Hu, Xiaobo Xu, Wei Gan, Yi Su, Jianbo Zhang, Jun Shanghai Jiao Tong University Joint Institute of UM-SJTU Shanghai200240 China Shanghai Jiao Tong University Research Center of Intelligent Robotics Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

The multiscale problem is one of the challenging topics in the object detection field. Among the current studies toward this problem, feature pyramid network (FPN) has been shown a superior performance. The core principle of FPN is a mapping for the detectable objects into hierarchy features. These features are designed with different size of receptive fields, which brings good scale invariance in the classification and localization subtasks. However, a disturbance of information dilution is generated by the assignment for the detectable objects into different features. This dilution disturbance is associated with the convolution or pooling operation during the hierarchy feature extraction process. Both of the imprecise localization information in the top features and the fuzzy classification information in the bottom ones limit the performance of FPN. Aiming at the disturbance rejection problem of information dilution, this article presents a feature compensation method. A cross compensation between the semantic information and the localization information in hierarchy features is used to enhance the vanilla FPN. Then, the evaluation metrics in an object detection task are examined. Not only the overall performance, but also the respective metrics for multiscale objects validate a considerable improvement of the FPN with a disturbance compensation mechanism. The experimental results demonstrate an effectiveness of the proposed method in this article. © 2020 IEEE.

关键词： Object detection

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The System of Coordinated Operation of Two Underwater Vehicles in a Complex Environment

The System of Coordinated Operation of Two Underwater Vehicl...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Filaretov, Vladimir Katsurin, Alexey Institute of Automation and Control Processes Feb Ras Vladivostok State University Laboratory of Robotic Systems Laboratory of Automation and Robotics Vladivostok Russia Far Eastern Federal University M.D. Ageev Institute for Marine Technology Problems Feb Ras Laboratory of Intelligent Information Systems for Marine Robots Department of Automation and Robotics Vladivostok Russia

ISBN: (纸本)9798350382457

The paper discusses methods of coordinated operation of two autonomous underwater vehicles, one of which is equipped with a multi-link manipulator and a vision system, and the second - auxiliary - only a vision system. These methods ensure the joint operation of two autonomous underwater vehicles both in the mode of semi-automatic positional remote control, and in the mode of automatic execution of operations with various objects. At the same time, work is considered in situations when the vision system of the main underwater vehicle does not allow observing the object of work, which is nevertheless located in the working area of the manipulator. In this case, the auxiliary inspection underwater vehicle with its own vision system is used to monitor the object. In the semi-automatic remote control mode, the manipulator automatically takes into account the current spatial orientation of the optical axis of the vision system of the inspection underwater vehicle, as well as the spatial orientations of both underwater vehicles at yaw angles in the absolute coordinate system. And in automatic mode, an accurate transfer of the spatial location and orientation of the object, which are determined using the vision system of the inspection underwater vehicle, is additionally provided to the associated coordinate system of the main underwater vehicle. It is possible to identify and eliminate errors that occur during the operation of the vision system and navigation systems of both underwater vehicles. The results of experimental studies have confirmed the operability of the proposed methods. © 2023 IEEE.

关键词： Autonomous underwater vehicles

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