Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 37 for “"Continuous Control"”.
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Sample-Efficient Deep Reinforcement Learning for Continuous Control
… Functions (NAF), extending Q-learning for continuous action problems; Interpolated Policy Gradient (IPG), unifying prior policy gradient algorithm variants through theoretical analyses on bias and variance; and Temporal Difference Models (TDM), interpreting a parameterized Q-function as a …
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Interpolated Experience Replay for Improved Sample Efficiency of Model-Free Deep Reinforcement Learning Algorithms
… robust deep reinforcement learning agents on continuous control tasks - when limited experience is available, poor sample efficiency can yield sub-optimal and unstable policies. To improve sample efficiency in these tasks, we propose Neighborhood Mixup Experience Replay (NMER) and Bayesian …
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Reinforcement Learning for Autonomous Aircraft Control and Aerial Maneuvering in Simulated Environments
… fly, avoid obstacles, and reach targets through continuous control. A combination of environment design and reward shaping was essential for achieving stable learning. Results show that performance improves significantly with training and proper reward design. Experiments across different …
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Artificial Neural Network-Based Robotic Control
… The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, …
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Um desacoplamento canônico para sistemas lineares multivariáveis
… decoupling of the system. System controllability and observability are studied in this framework. Although the decoupling scheme is developed for continuous control systems, it is also valid for discrete-time linear systems. A Fortran computer program is presented which calculates …
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A novel continuous pitch electronic wind instrument controller
We present a design for an electronic continuous pitch wind controller for musical performance. It uses a combination of linear position, magnetic reed, and air pressure sensors to generate three fully continuous control dimensions. Each control dimension is encoded and transmitted using the …
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Variable Structure and Ultimate Boundedness control and stabilization of flexible robotic systems
In this thesis we study the control of two link light weight elastic manipulator in the presence of uncertainty. The control of flexible robotic arm with uncertainty such as variable payload, joint angle frictional torque etc., is an interesting and important problem; Here we consider control of …
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New expressive percussion instruments
… recording, and developing musical material; continuous control over rhythm and timbre; pressure sensing; and electronic / acoustic hybrids. These instruments use the tools of electronics and computation to extend the role of percussion by creating new ways for people to play percussion alone, …
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The applicability of APT towards meeting control needs in discrete parts manufacturing
… for designing, debugging and documenting process control solutions that run on programmable controllers. The product - the Applications Productivity Tool (APT), allows process and control engineers to design and program in a graphical environment that compiles into machine code (relay ladder …
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Orbital transfer trajectory optimization
… transfers for impulsive engines because a continuous control law must be found and long integrations are necessary to determine whether the control law works or not. Previous work on optimizing low thrust orbital transfers has led to the development of control laws for continuous thrusting …
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Modular Zipping for Transformable and Dynamic Systems
… strips. The proposed zipper design allows for continuous control states between a compact and fully deployed state. The modular actuators can be integrated into a variety of systems to enable compact, shape- and stiffness-changing structures, robots and other devices. Designs are presented for …
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Effect of control frequency on the performance of manufacturing systems with controllable production rates
… limit their reliability and efficiency. The control of flow-line manufacturing systems, as a way to compensate for limited reliability, is about the frequent regeneration of production parameters so that the system output conforms to demand requirements in an acceptable manner. The influence …
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Reinforcement Learning Control for Mobile Robot Parking with Safety Constraints
… that combines reinforcement learning (RL) with control barrier function (CBF)-based methods to achieve safe autonomous vehicle control, focusing on parking with obstacle avoidance. We apply Deep Deterministic Policy Gradient (DDPG) methods for continuous control and evaluate policies across …
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Model-based approaches for learning control from multi-modal data
… increasing attention when solving very general continuous control tasks in a model-free end-to-end fashion. However, there has been great difficulty in applying these algorithms to real-world systems due to poor sample efficiency and inability to handle state and control constraints. We …
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A Gauss pseudospectral transcription for optimal control
… method for solving nonlinear optimal control problems is proposed in this thesis. The method is a direct transcription that transcribes the continuous optimal control problem into a discrete nonlinear programming problem (NLP), which can be solved by well-developed algorithms. The …
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Robust end-to-end learning for autonomous vehicles
… a deep neural network learns to predict steering control commands from camera data input. While these works support reactionary control, the representation learned is not usable for higher-level decision making required for autonomous navigation. This thesis tackles the problem of learning a …
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Optimal Strategy Imitation Learning from Differential Games
… with the ability to to derive appropriate controls using future estimations for other vehicles, pedestrians, or otherwise intentionally moving agents in a manner similar to or better than human drivers. Differential game theory provides one approach to generate a control strategy by …
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Solving hybrid decision-control problems through conflict-directed branch & bound
… constraint. Traditionally, these hybrid decision-control problems (HDCPs) are encoded in a binary integer program (BIP). These BIPs are solved using Branch and Bound (B&B) techniques. Two problems arise with this approach. First, binary arithmetic is not a natural representation for expressing …
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Hydrodynamics of magnet-coil actuated robotic fish
… that the discrete tail beat from the bang bang control creates vortex pairs at each start or stop motion of the caudal fin. Moreover, the wake structure from the shark Aquabot tail beat creates a wake structure similar to live dogfish sharks. Since the design of the Scuba Fish allowed more …
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The Science of Mind Reading: New Inverse Optimal Control Framework
Continuous control and planning by the brain remain poorly understood and is a major challenge in the field of Neuroscience. To truly say that we understand the underlying mechanisms we should first be able to explain the behavioral actions of the animals, so that we can relate the neural activity …
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