Print Email Facebook Twitter Model-plant mismatch compensation using reinforcement learning Title Model-plant mismatch compensation using reinforcement learning Author Koryakovskiy, I. (TU Delft Biomechatronics & Human-Machine Control) Kudruss, M. (University of Heidelberg) Vallery, H. (TU Delft Biomechatronics & Human-Machine Control) Babuska, R. (TU Delft Learning & Autonomous Control) Caarls, W. (Pontifical Catholic University of Rio de Janeiro) Date 2018 Abstract Learning-based approaches are suitable for the control of systems with unknown dynamics. However, learning from scratch involves many trials with exploratory actions until a good control policy is discovered. Real robots usually cannot withstand the exploratory actions and suffer damage. This problem can be circumvented by combining learning with a model-based control. In this letter, we employ a nominal model-predictive controller that is impeded by the presence of an unknown model-plant mismatch. To compensate for the mismatch, we propose two approaches of combining reinforcement learning with the nominal controller. The first approach learns a compensatory control action that minimizes the same performance measure as is minimized by the nominal controller. The second approach learns a compensatory signal from a difference of a transition predicted by the internal model and an actual transition. We compare the approaches on a robot attached to the ground and performing a setpoint reaching task in simulations. We implement the better approach on the real robot and demonstrate successful learning results. To reference this document use: http://resolver.tudelft.nl/uuid:4ea9a42f-9d8a-4080-936e-d603feaac5ab DOI https://doi.org/10.1109/LRA.2018.2800106 ISSN 2377-3766 Source IEEE Robotics and Automation Letters, 3 (3), 2471 - 2477 Bibliographical note Accepted Author Manuscript Part of collection Institutional Repository Document type journal article Rights © 2018 I. Koryakovskiy, M. Kudruss, H. Vallery, R. Babuska, W. Caarls Files PDF RAL2018_Model_plant_Korya ... ovskiy.pdf 1.43 MB Close viewer /islandora/object/uuid:4ea9a42f-9d8a-4080-936e-d603feaac5ab/datastream/OBJ/view