AI-MOLE: Autonomous Iterative Motion Learning for unknown nonlinear dynamics with extensive experimental validation
Meindl M, Bachhuber S, Seel T (2024)
Publication Type: Journal article
Publication year: 2024
Journal
Book Volume: 145
Article Number: 105879
DOI: 10.1016/j.conengprac.2024.105879
Abstract
This work proposes Autonomous Iterative Motion Learning (AI-MOLE), a method that enables systems with unknown, nonlinear dynamics to autonomously learn to solve reference tracking tasks. The method iteratively applies an input trajectory to the unknown dynamics, trains a Gaussian process model based on the experimental data, and utilizes the model to update the input trajectory until desired tracking performance is achieved. Unlike existing approaches, the proposed method determines necessary parameters automatically, i.e., AI-MOLE works plug-and-play and without manual parameter tuning. Furthermore, AI-MOLE only requires input/output information, but can also exploit available state information to accelerate learning. While other approaches are typically only validated in simulation or on a single real-world testbed using manually tuned parameters, we present the unprecedented result of validating the proposed method on three different real-world robots and a total of nine different reference tracking tasks without requiring any a priori model information or manual parameter tuning. Over all systems and tasks, AI-MOLE rapidly learns to track the references without requiring any manual parameter tuning at all, even if only input/output information is available.
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Germany (DE)How to cite
APA:
Meindl, M., Bachhuber, S., & Seel, T. (2024). AI-MOLE: Autonomous Iterative Motion Learning for unknown nonlinear dynamics with extensive experimental validation. Control Engineering Practice, 145. https://doi.org/10.1016/j.conengprac.2024.105879
MLA:
Meindl, Michael, Simon Bachhuber, and Thomas Seel. "AI-MOLE: Autonomous Iterative Motion Learning for unknown nonlinear dynamics with extensive experimental validation." Control Engineering Practice 145 (2024).
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