数据驱动的反向增强学习,用于异质的最佳稳固形成控制
IEEE transactions on cybernetics
|March 14, 2025
概括
本研究介绍了针对多代理系统 (MAS) 的数据驱动反增强学习 (IRL) 算法,以实现最佳的形成控制,尽管存在干扰. 这些方法确保了复杂的MAS任务的稳定性和趋同性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 控制系统 控制系统
背景情况:
- 多代理系统 (MAS) 中的异质形成控制由于复杂的动态和外部干扰而带来了挑战.
- 识别未知的奖励函数和最佳控制策略对于MAS性能至关重要.
- 现有的方法通常需要对系统动态有充分的了解,这限制了它们的适用性.
研究的目的:
- 开发新的数据驱动的反增强学习 (IRL) 算法,以实现MAS中最佳的形成控制.
- 在干扰条件下解决异质的形成控制问题.
- 为了使MAS能够从专家演示中学习最佳行为,而无需事先了解其动态.
主要方法:
- 拟议的专家-估计者-学习者MAS架构与相似的交互图.
- 为估计器MAS开发了一个基于模型的IRL算法,以获得最佳的控制和奖励功能.
- 为学习者MAS引入了一个强大的无模型IRL算法,利用估计器结果而不需要学习者动态.
- 介绍了拟议的IRL算法的数据驱动实现.
主要成果:
- 成功重建了评估者和学习者MAS的最佳控制和奖励功能.
- 通过演示,证明了识别未知的奖励函数和最佳控制的能力.
- 通过理论分析验证了多剂系统的稳定性和趋同性.
- 通过模拟结果确认了拟议的算法的有效性.
结论:
- 开发的数据驱动的IRL算法有效地解决了在干扰下MAS的异质形成控制.
- 专家 - 估计者 - 学习者框架使得学习最佳政策,即使没有完全了解系统动态.
- 这项研究为奖励函数识别和MAS的最佳控制提供了强大的方法.
相关概念视频
01:17Open and closed-loop control systems
597
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...
597
01:34Woodward–Hoffmann Selection Rules and Microscopic Reversibility
3.0K
Electrocyclic reactions, cycloadditions, and sigmatropic rearrangements are concerted pericyclic reactions that proceed via a cyclic transition state. These reactions are stereospecific and regioselective. The stereochemistry of the products depends on the symmetry characteristics of the interacting orbitals and the reaction conditions. Accordingly, pericyclic reactions are classified as either symmetry-allowed or symmetry-forbidden. Woodward and Hoffmann presented the selection criteria for...
3.0K
01:13Stability of Equilibrium Configuration: Problem Solving
561
The stability of equilibrium configurations is an important concept in physics, engineering, and other related fields. In simple terms, it refers to the tendency of an object or system to return to its equilibrium position after being disturbed. The stability of an equilibrium configuration can be analyzed by considering the potential energy function of the system and examining its behavior near the equilibrium point.
Problem-solving in the context of the stability of equilibrium configuration...
Problem-solving in the context of the stability of equilibrium configuration...
561
01:26Feedback control systems
264
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...
264
01:22Multi-input and Multi-variable systems
93
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
93
01:16Statically Indeterminate Problem Solving
350
Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
350