Essays about: "Furuta pendulum"

Showing result 1 - 5 of 8 essays containing the words Furuta pendulum.

  1. 1. Benchmarking Deep Reinforcement Learning on Continuous Control Tasks : AComparison of Neural Network Architectures and Environment Designs

    University essay from KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Author : Daniel Sahlin; [2022]
    Keywords : Deep learning; Reinforcement learning; Reward functions; Neural networks; Furuta pendulum; Djupinlärning; Förstärkningsinlärning; Belöningsfunktioner; Neurala nätverk; Furuta-pendel;

    Abstract : Deep Reinforcement Learning (RL) has received much attention in recent years. This thesis investigates how reward functions, environment termination conditions, Neural Network (NN) architectures, and the type of the deep RL algorithm aect the performance for continuous control tasks. READ MORE

  3. 2. Robust Reinforcement Learning Control of a Furuta Pendulum

    University essay from Lunds universitet/Institutionen för reglerteknik

    Author : Philip Olhager; [2021]
    Keywords : Technology and Engineering;

    Abstract : The use of Reinforcement Learning (RL) to design controllers for safety critical systems is an important research area. On the one hand, RL can function in and adapt to complex and changing environments without requiring a model of the system. READ MORE

  4. 3. Model-based Friction Compensation

    University essay from Lunds universitet/Institutionen för reglerteknik

    Author : Timothée Basson; Julien Lescot; [2009]
    Keywords : dSPACE; Limit Cycle; Furuta Pendulum; LuGre Model; Friction Compensation; Technology and Engineering;

    Abstract : Friction is present in all mechanical systems and causes a wide range of problems for control. The development of model-based strategies accounting for Friction in the designed control has been a vast area of Research since these last decades. READ MORE

  5. 4. Model-based Friction Compensation for the Furuta Pendulum using the LuGre Model

    University essay from Lunds universitet/Institutionen för reglerteknik

    Author : Thomas Dietz; [2006]
    Keywords : LuGre Model; Dahl Model; Colomb Model; Friction Compensation; Friction Observeration; Furuta Pendulum; Limit Cycle.; Technology and Engineering;

    Abstract : Friction is present in all mechanical systems and causes a wide range of problems for control. The development of friction models and methods to account for friction in control has been an active research area for many years. A promising friction model that is capable of describing a wide array of observed friction phenomena is the LuGre model. READ MORE

  6. 5. Friction Compensation by the use of Friction Observer

    University essay from Lunds universitet/Institutionen för reglerteknik

    Author : Mikael Janiec; [2004]
    Keywords : Technology and Engineering;

    Abstract : The deteriorating effects of friction on the control of mechanical systems is a major problem in a multitude of applications such as high-performance robotics and pointing systems. This thesis aims at improving control by using a nonlinear friction observer to detect friction in the system and use this information to modify the control input. READ MORE