Online Series-Parallel Reinforcement-Learning-Based Balancing Control for Reaction Wheel Bicycle Robots on a Curved Pavement

LQR and MPC controller design and comparison for a stationary self-balancing bicycle robot with a reaction wheel

Hierarchical Reinforcement Learning Based Self-balancing Algorithm for Two-wheeled Robots

Abstract: Self-balancing control is the basis for applications of two-wheeled robots. In order to improve the self-balancing of twowheeled robots, we propose a hierarchical reinforcement learning algorithm for controlling the balance of two-wheeled robots. After describing the subgoals of hierarchical reinforcement learning, we extract features for subgoals, define a feature value vector and it...

Reinforcement Learning Based PID Control of Wind Energy Conversion Systems

In this paper an adaptive PID controller for Wind Energy Conversion Systems (WECS) has been developed. Theadaptation technique applied to this controller is based on Reinforcement Learning (RL) theory. Nonlinearcharacteristics of wind variations as plant input, wind turbine structure and generator operational behaviordemand for high quality adaptive controller to ensure both robust stability an...

Bicycle Rider Control: a Balancing Act

Learning to Drive a Bicycle Using Reinforcement Learning and Shaping

We present and solve a real-world problem of learning to drive a bicycle. We solve the problem by online reinforcement learning using the Sarsa( )-algorithm. Then we solve the composite problem of learning to balance a bicycle and then drive to a goal. In our approach the reinforcement function is independent of the task the agent tries to learn to solve.