强化学习用于H∞对未知连续时间线性系统的最佳控制
IEEE transactions on cybernetics
|March 3, 2025
概括
本研究介绍了初始基于激发的强化学习,用于在具有未知动态的系统中进行最佳控制. 新方法避免了复杂的条件,确保有效和准确的控制政策学习.
科学领域:
- 控制理论 控制理论
- 机器学习 机器学习
- 系统识别系统识别系统
背景情况:
- 为具有未知动态和干扰的系统设计最佳控制是一个重大挑战.
- 现有的强化学习方法用于H无限度的最佳控制,通常需要难以监测的持续激发 (PE) 条件或大量数据存储.
- 这些局限性阻碍了先进控制策略的实际在线实施.
研究的目的:
- 开发新的强化学习算法,用于对具有未知动态的连续时间线性系统进行H-infinity最佳控制.
- 通过消除对激发持久性或广泛数据存储的需求,克服现有方法的局限性.
- 引入一个可在线验证的初始激发条件,以保证算法趋同.
主要方法:
- 开发基于初始激发的强化学习算法.
- 对算法属性的分析,以证明在初始激发条件下的收.
- 数字模拟用于验证拟议算法的性能和正确性.
主要成果:
- 提出的初始基于激发的强化学习算法汇聚到最佳控制政策.
- 这些算法在可在线验证的初始激发条件下有效运行.
- 数字分析证实了开发的方法的实际适用性和正确性.
结论:
- 基于初始激发的强化学习为在动态不明的系统中实现H无限度最佳控制提供了可行的解决方案.
- 新方法简化了实际实施,通过将严格的先决条件替换为易于验证的初始激发.
- 这项工作促进了自适应控制领域的发展,通过使最佳控制政策的强大和高效学习成为可能.
更多相关视频
08:35Interactive and Visualized Online Experimentation System for Engineering Education and Research
Published on: November 24, 2021
2.4K
06:45Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
Published on: October 28, 2022
1.5K
相关概念视频
01:26Feedback control systems
268
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
268
01:21Linear Approximation in Time Domain
59
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
59
01:17Open and closed-loop control systems
601
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
601
01:10Control Systems
1.0K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
At the heart...
1.0K
01:23Linear time-invariant Systems
202
A system is linear if it displays the characteristics of homogeneity and additivity, together termed the superposition property. This principle is fundamental in all linear systems. Linear time-invariant (LTI) systems include systems with linear elements and constant parameters.
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
The input-output behavior of an LTI system can be fully defined by its response to an impulsive excitation at its input. Once this impulse response is known, the system's reaction to any other input can be...
202
01:26Classification of Systems-I
167
Linearity is a system property characterized by a direct input-output relationship, combining homogeneity and additivity.
Homogeneity dictates that if an input x(t) is multiplied by a constant c, the output y(t) is multiplied by the same constant. Mathematically, this is expressed as:
Homogeneity dictates that if an input x(t) is multiplied by a constant c, the output y(t) is multiplied by the same constant. Mathematically, this is expressed as:
167