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In this paper, we propose a clique-based sparse reinforcement learning (RL) algorithm for solving cooperative tasks. The aim is to accelerate the learning speed of the original sparse RL algorithm and to make it applicable for tasks decomposed in a more general manner. First, a transition function is estimated and used to update the Q-value function, which greatly reduces the learning time. Second,...
To solve the level-adjusting problem of high accurate and costly payloads when loading and unloading, a rope-driven self-leveling device is developed, and a neuro-fuzzy controller is proposed. After a brief introduction of the configuration characteristics of the device and the fundamentals of neuro-fuzzy control, the construction of the neuro-fuzzy controller is set up, in which the angles of two...
This paper concerns the fields of the eccentric payload crane systems. We firstly introduce a four-rope-driven self-levelling crane system, which can adjust the payload to level precisely and safely by changing the lengths of the ropes. Then, the system model is deduced according to force equation, moment equation principles and geometry restrictions, without considering the acceleration items. Finally,...
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