Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm (opens in new tab)

Soft robots are challenging to control due to their nonlinear and time-varying dynamics. Data-enabled predictive control (DeePC) offers a model-free alternative by directly leveraging measured input-output trajectories to construct a predictive controller. However, its receding-horizon formulation requires solving a constrained optimization problem at every sampling instant, which can be computationally demanding for real-time deployment on reso...