Adaptive Tracking Control of Nonlinear Systems using Reinforcement Learning
Abstract
This chapter presents online solutions to the optimal tracking of nonlinear systems to attenuate the effect of disturbance on the performance of the systems. To obviate the requirement of the complete knowledge of the system dynamics, reinforcement learning (RL) is used to learn the solutions to the Hamilton-Jacobi-Isaacs equations arising from solving the tracking problem. Off-policy RL algorithms are designed for continuous-time systems, which allows the reuse of data for learning and consequently leads to data efficient RL algorithms. A solution is first presented for the optimal tracking control of affine nonlinear systems. It is then extended to a special class of nonlinear nonaffine systems. It is shown that for the nonaffine systems existence of a stabilizing solution depends on the performance function. A performance function is designed to assure the existence of the solution to a class of nonaffine system, while taking into account the input constraints.
Recommended Citation
H. Modares et al., "Adaptive Tracking Control of Nonlinear Systems using Reinforcement Learning," Adaptive Learning Methods for Nonlinear System Modeling, pp. 313 - 333, Elsevier, Jan 2018.
The definitive version is available at https://doi.org/10.1016/B978-0-12-812976-0.00018-X
Department(s)
Electrical and Computer Engineering
Keywords and Phrases
Control; Optimal tracking; Reinforcement learning
International Standard Book Number (ISBN)
978-012812976-0;978-012812977-7
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Elsevier, All rights reserved.
Publication Date
01 Jan 2018
Comments
National Science Foundation, Grant 1851588