Emil Mühlbradt Sveen

• Sveen, Emil Mühlbradt & Zhou, Jing (2023). Applications of Linear Adaptive Dynamic Programming (ADP) to a Non-linear Four-bar Mechanism. International Conference on Control, Mechatronics and Automation. ISSN 2837-5114. s. 177–182. doi: 10.1109/ICCMA59762.2023.10374822.
• Sveen, Emil Mühlbradt & Zhou, Jing (2023). Adaptive Learning Based Motor Control of an Unknown Robot Manipulator. Proceedings of the Annual Conference of the IEEE Industrial Electronics Society (IECON). ISSN 1553-572X. Vis sammendrag

  Adaptive dynamic programming, optimal control, robot manipulator, unknown dynamics, noise Abstract—This paper focuses on motor joint control using learning based Adaptive Dynamic Programming (ADP). The dynamics of a 2-link robot manipulator is presented. The system is regarded as a linear system and the optimal control is developed using linear quadratic regulator (LQR) and ADP methods. An off-line, off-policy controller iteration approach is used to find two optimal controllers, one for each motor joint of the robot. The optimal controller is developed to control the joint position without knowing the dynamic model. Simulation results show that two independent optimal linear control policies are learned simultaneously under a common exploration strategy, and the efficiency of ADP is verified.

Se alle arbeider i Cristin

• Sveen, Emil Mühlbradt; Hansen, Rasmus Als & Folgerø, Roy Werner (2023). Robotic Picking in a Cluttered Environment Using Computer Vision. Universitetet i Agder.
• Sveen, Emil Mühlbradt; Sand, Kristoffer; Solberg, Trygve Andre Olsøy & Andersen, Per-Arne (2023). Utilizing Reinforcement Learning and Computer Vision in a Pick-and-Place Operation for Sorting Objects in Motion. Universitetet i Agder.

Se alle arbeider i Cristin