Singular Perturbation Methods in Control: Analysis and Design
Singular Perturbation Methods in Control: Analysis and Design
Reinforcement Learning in Continuous Time and Space
Neural Computation
Brief paper: Adaptive optimal control for continuous-time linear systems based on policy iteration
Automatica (Journal of IFAC)
Reinforcement learning: a survey
Journal of Artificial Intelligence Research
Reinforcement learning and adaptive dynamic programming for feedback control
IEEE Circuits and Systems Magazine
Online actor-critic algorithm to solve the continuous-time infinite horizon optimal control problem
Automatica (Journal of IFAC)
Issues on Stability of ADP Feedback Controllers for Dynamical Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Neural Networks
On integral generalized policy iteration for continuous-time linear quadratic regulations
Automatica (Journal of IFAC)
Hi-index | 22.15 |
This paper proposes an integral Q-learning for continuous-time (CT) linear time-invariant (LTI) systems, which solves a linear quadratic regulation (LQR) problem in real time for a given system and a value function, without knowledge about the system dynamics A and B. Here, Q-learning is referred to as a family of reinforcement learning methods which find the optimal policy by interaction with an uncertain environment. In the evolution of the algorithm, we first develop an explorized policy iteration (PI) method which is able to deal with known exploration signals. Then, the integral Q-learning algorithm for CT LTI systems is derived based on this PI and the variants of Q-functions derived from the singular perturbation of the control input. The proposed Q-learning scheme evaluates the current value function and the improved control policy at the same time, and are proven stable and convergent to the LQ optimal solution, provided that the initial policy is stabilizing. For the proposed algorithms, practical online implementation methods are investigated in terms of persistency of excitation (PE) and explorations. Finally, simulation results are provided for the better comparison and verification of the performance.