Event-driven bi-fidelity control for efficient and reliable robotic manipulation
This paper proposes a novel bi-fidelity control framework for robotic manipulators that integrates a high-fidelity model predictive control (MPC) scheme with a low-fidelity Long Short-Term Memory (LSTM) neural network surrogate. Unlike conventional fixed-schedule approaches, our method employs an ev...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-06-01
|
| Series: | Results in Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123025014446 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Summary: | This paper proposes a novel bi-fidelity control framework for robotic manipulators that integrates a high-fidelity model predictive control (MPC) scheme with a low-fidelity Long Short-Term Memory (LSTM) neural network surrogate. Unlike conventional fixed-schedule approaches, our method employs an event-triggered mechanism that dynamically selects the appropriate controller based on a real-time error metric. This mechanism ensures that the computationally intensive MPC is invoked only when the LSTM approximation deviates beyond acceptable bounds. We rigorously established the near-optimal performance and closed-loop stability of our approach via Lyapunov analysis under mild assumptions, instilling confidence in its reliability. The simulation results on a three-arm manipulator, subject to low-frequency sinusoidal and high-frequency chirp trajectories, demonstrate that the proposed approach achieves up to 80–90% reduction in MPC calls, significantly improving the accuracy of the follow-up and computational efficiency. These findings highlight the potential of integrating learning-based approximations with conventional optimization-based control to achieve reliable and time-efficient performance in complex robotic manipulation tasks. |
|---|---|
| ISSN: | 2590-1230 |