DOB-Net: Actively Rejecting Unknown Excessive Time-Varying Disturbances
Tianming Wang,Wenjie Lu,Zheng Yan,Dikai Liu,Tianming Wang,Wenjie Lu,Zheng Yan,Dikai Liu
This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OB-server Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed robot control capabilities. The DOB-Net integrates a disturbance dynamics observer network and a controller network. Originated from conventional DOB mechanism...
