Learning for Depth Control of a Robotic Penguin: A Data-Driven Model Predictive Control Approach

摘要

For bionic underwater robots, it is a great challenge for depth control due to model uncertainty and strong nonlinearity. To this end, we propose a data-driven model predictive control (MPC) approach using reinforcement learning (RL) for robotic penguin depth control. First, by imitating the underwater mode of the biological penguin, a robotic prototype with a tendon-driven head, two-degrees-of-freedom wings, and a tendon-driven tail was designed. Then, a data-driven MPC framework is proposed considering the structure and motion properties of the robotic penguin. Especially, a data-based learning environment is constructed using a motion capture system, computational fluid dynamics, and a backpropagation neural network. Meanwhile, to maximize the benefits of the controller while ensuring safety and stability, a data-driven MPC using the RL scheme is applied to approximate the optimal policy. Combined with an appropriate reward design and periodic training, the closed-loop controller performance is significantly improved, and the validity of the proposed framework is finally tested by extensive simulations and experiments. Notably, this work will provide valuable insights into the learning-based motion control of bionic underwater robots.