Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms

Xing, Runqiang; Xie, Meilin; Xue, Haoqi; Wang, Jie; Wang, Fan

doi:10.3390/photonics12090885

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Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms

by

Runqiang Xing

^1,2,3,4,

Meilin Xie

^1,2,3,4,5,

Haoqi Xue

^1,2,3,4,

Jie Wang

^1,3,4,5 and

Fan Wang

^1,3,4,5,*

¹

Xi’an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi’an 710119, China

²

University of Chinese Academy of Sciences, Beijing 100049, China

³

Key Laboratory of Space Precision Measurement Technology, Chinese Academy of Sciences, Xi’an 710119, China

⁴

Pilot National Laboratory for Marine Science and Technology, Qingdao 266237, China

⁵

Laoshan Laboratory, Laoshan 266100, China

^*

Author to whom correspondence should be addressed.

Photonics 2025, 12(9), 885; https://doi.org/10.3390/photonics12090885

Submission received: 2 August 2025 / Revised: 27 August 2025 / Accepted: 28 August 2025 / Published: 2 September 2025

(This article belongs to the Special Issue Laser Communication Systems and Related Technologies)

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Abstract

Beam pointing control based on Risley prisms is of great significance in wide-angle, high-precision application scenarios, such as laser communication, but its inherent nonlinear system characteristics seriously restrict the performance of beam pointing control, such as accuracy. For this reason, this paper combines the theory of fully actuated control with reinforcement learning methods and designs a fully actuated control method based on reinforcement learning compensation: suppressing the influence of system nonlinearity through fully actuated control, using reinforcement learning to estimate system perturbations and nonlinearities, and then outputting a compensated control quantity using the low-dimensional output of fully actuated control as the reference input of reinforcement learning reduces the complexity of learning and realises the end-to-end uncertainty estimation. Finally, the stability of the method is theoretically analyzed, and the effectiveness of the method is verified by experimental analysis, which can further improve the beam pointing accuracy of the Risley prism system.

Keywords: Risley prism; beam pointing control; reinforcement learning; fully actuated control

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MDPI and ACS Style

Xing, R.; Xie, M.; Xue, H.; Wang, J.; Wang, F. Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms. Photonics 2025, 12, 885. https://doi.org/10.3390/photonics12090885

AMA Style

Xing R, Xie M, Xue H, Wang J, Wang F. Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms. Photonics. 2025; 12(9):885. https://doi.org/10.3390/photonics12090885

Chicago/Turabian Style

Xing, Runqiang, Meilin Xie, Haoqi Xue, Jie Wang, and Fan Wang. 2025. "Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms" Photonics 12, no. 9: 885. https://doi.org/10.3390/photonics12090885

APA Style

Xing, R., Xie, M., Xue, H., Wang, J., & Wang, F. (2025). Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms. Photonics, 12(9), 885. https://doi.org/10.3390/photonics12090885

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Reinforcement Learning Compensatory-Based Fully Actuated Control Method for Risley Prisms

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