2025; Master's Thesis: Part 2 of 4: Manipulator Control (Removed)

//certain sections of the original thesis have been removed

Introduction

This is part two of the four part series covering my Master's Thesis at KAIST titled "Accelerating Policy Learning for Robust Control of Robotic Manipulators and Aerial Vehicles via Physics-Informed Guidance" under Professor Dong Eui Chang. The full thesis can be found at KAIST library: THESIS. It has in-depth explanation of all the concepts, simulation and control design, and the experimental results. Please note that these posts do not cover the entire thesis in detail and is instead built upon my thesis defence slides.

NOTE: Parts of this thesis are still partly utilized for other research work, and so some sections have been removed.

This blog post covers manipulator control using PID and disturbance observer (DOB) along with auto-tuning using reinforcement learning.

UPDATE: Due to conflicts with other research work, I had to remove this blog post.