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37th Chinese Control Conference (CCC)

作者： Zhao, Qian Mu, Chaoxu Liu, Weiqiang Tianjin Univ Sch Elect & Informat Engn Tianjin 300072 Peoples R China Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China

ISBN: (纸本)9789881563958

This paper sums up four typical schemes of adaptive dynamic programming (ADP). The diagrams are provided and the algorithms of various schemes are described, which is convenient for comparison. Some schemes in this paper belong to the group of action-dependent (AD) adaptive critic designs, which features without a model network in the design. For simplicity of notation, we do not use the prefix AD. The learning process of ADP is accomplished by updating the weights of the networks. The weight updating processes of some networks in GDHP scheme are introduced.

关键词： Neural networks goal representation online learning and control reinforcement learning (RL)

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Decentralized Control for Large-Scale Nonlinear Systems With Unknown Mismatched Interconnections via Policy Iteration

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ieee TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2018年第10期48卷 1725-1735页

作者： Zhao, Bo Wang, Ding Shi, Guang Liu, Derong Li, Yuanchun Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Changchun Univ Technol Dept Control Sci & Engn Changchun 130012 Jilin Peoples R China

In this paper, the decentralized control problem is solved based on a policy iteration algorithm for large-scale nonlinear systems with unknown mismatched interconnections. The unknown interconnection is approximated by a neural network with local states of isolated subsystem and substituted reference states of coupled subsystems. Then, an adaptive estimation term is utilized to construct the improved local performance index function that reflects the substitution error. Hereafter, the closed-loop large-scale nonlinear system is guaranteed to be ultimately uniformly bounded by the implementation of a set of developed decentralized optimal control policies. Two simulation examples are given to verify the effectiveness of the presented scheme. The significant contribution of this scheme lies in that it removes the common assumptions on satisfying matching condition and upper boundedness of interconnections, when designing the decentralized optimal control for large-scale nonlinear systems.

关键词： adaptive dynamic programming (ADP) decentralized control large-scale systems neural networks (NNs) optimal control policy iteration (PI) reinforcement learning unknown mismatched interconnections

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Applying Expectation-Maximization Evaluation on Approximate Optimal Control 12

Applying Expectation-Maximization Evaluation on Approximate ...

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12th Annual ieee International Systems Conference (SYSCON)

作者： Zhang, Songtao Dubay, Rickey Univ New Brunswick Dept Mech Engn Fredericton NB Canada

ISBN: (纸本)9781538636640

In this paper we proposed an approach of approximating optimal tracking via expectation-maximization (EM) evaluation. From the discussion of applying reinforcement learning (RL) for a system with unknown internal dynamics, we present the challenge of using a classical frame of Q-learning on a tracking task. Further we explained the idea of redefining the cost function (i.e. criterion) of Q-learning to satisfy the requirement for the system dynamic knowledge for the tracking task. We explained the advantages of dividing the original trajectory tracking task into two machine learning subtasks (i.e. learning the quadratic regulator and learning the baseline command generator) on-line. Details are given on the integration of the Q-learning frame and EM algorithm as well as the convergence to the optimum control via iterative estimation of an optimal regulator and a baseline generator. Initial simulation results of this approach using a second order system showed the ability of the Q-learning frame integrated with the EM algorithm approximates to the optimal tracking task.

关键词： Q-learning quadratic control expectation-maximization algorithm adaptive dynamic programming

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Longitudinal dynamic versus Kinematic Models for Car-Following Control Using Deep reinforcement learning

Longitudinal Dynamic versus Kinematic Models for Car-Followi...

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International Conference on Intelligent Transportation

作者： Yuan Lin John McPhee Nasser L. Azad Systems Design Engineering Department University of Waterloo Ontario Canada

The majority of current studies on autonomous vehicle control via deep reinforcement learning (DRL) utilize point-mass kinematic models, neglecting vehicle dynamics which includes acceleration delay and acceleration command dynamics. The acceleration delay, which results from sensing and actuation delays, results in delayed execution of the control inputs. The acceleration command dynamics dictates that the actual vehicle acceleration does not rise up to the desired command acceleration instantaneously due to dynamics. In this work, we investigate the feasibility of applying DRL controllers trained using vehicle kinematic models to more realistic driving control with vehicle dynamics. We consider a particular longitudinal car-following control, i.e., adaptive Cruise Control (ACC), problem solved via DRL using a point-mass kinematic model. When such a controller is applied to car following with vehicle dynamics, we observe significantly degraded car-following performance. Therefore, we redesign the DRL framework to accommodate the acceleration delay and acceleration command dynamics by adding the delayed control inputs and the actual vehicle acceleration to the reinforcement learning environment state, respectively. The training results show that the redesigned DRL controller results in near-optimal control performance of car following with vehicle dynamics considered when compared with dynamic programming solutions.

关键词： Vehicle dynamics Acceleration learning (artificial intelligence) Delays Kinematics Neural networks Autonomous vehicles

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adaptive Assist-as-needed Control Based on Actor-Critic reinforcement learning

Adaptive Assist-as-needed Control Based on Actor-Critic Rein...

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2019 ieee/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yufeng Zhang Shuai Li Karen J. Nolan Damiano Zanotto Wearable Robotics Systems (WRS) Lab. Stevens Institute of Technology Hoboken NJ USA Human Performance and Engineering Research Kessler Foundation West Orange NJ USA

In robot-assisted rehabilitation, assist-as-needed (AAN) controllers have been proposed to promote subjects' active participation, which is thought to lead to better training outcomes. Most of these AAN controllers require a patient-specific manual tuning of the parameters defining the underlying force-field, which typically results in a tedious and time-consuming process. In this paper, we propose a reinforcement-learning-based impedance controller that actively reshapes the stiffness of the force-field to the subject's performance, while providing assistance only when needed. This adaptability is made possible by correlating the subject's most recent performance to the ultimate control objective in real-time. In addition, the proposed controller is built upon action dependent heuristic dynamic programming using the actor-critic structure, and therefore does not require prior knowledge of the system model. The controller is experimentally validated with healthy subjects through a simulated ankle mobilization training session using a powered ankle-foot orthosis.

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Optimal distributed containment control for nonlinear multi-agent graphical games

Optimal distributed containment control for nonlinear multi-...

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Chinese Automation Congress (CAC)

作者： Yu, Di Luo, Huafeng Beijing Informat Sci & Technol Univ Sch Automat Beijing Peoples R China Qingdao Univ Sci & Technol Coll Electromech Engn Qingdao Peoples R China

ISBN: (纸本)9781728113128

A new optimal distributed control scheme is developed for the containment control problem of nonlinear multi-agent graphical games. adaptive dynamic programming method is applied to obtain the approximate optimal control policy of each follower which make the followers converge and keep moving within the convex hull of leaders and simultaneously achieve Nash equilibrium. The performance index of each follower is defined based on local neighborhood information. Moreover, an model-free integral reinforcement learning algorithm is proposed to update the value function and the control policy without knowing the system dynamics so as to avoid to solve the coupled Hamilton-Jacobi-Bellman(HJB) equations, which is implemented by actor-critic structure and least-square method. Convergence analysis of the algorithm and asymptotical stability of the whole network are provided. Simulation results show the effectiveness of the proposed control scheme.

关键词： graphical games multi-agent networks integral reinforcement learning containment control

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A Single-NN Iterative adaptive dynamic programming Algorithm for Continuous-Time Nonlinear Zero-Sum Games 37

A Single-NN Iterative Adaptive Dynamic Programming Algorithm...

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37th Chinese Control Conference (CCC)

作者： Song, Ruizhuo Li, Junsong Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9789881563958

This paper establishes an approximate optimal critic learning algorithm based on single-network adaptive dynamic programming (ADP) aiming at solving for continuous-time 2-player zero-sum games(ZSG). However, the situation where the accurate dynamics is influenced by disturbance will occur from time to time. Because neural network(NN) is used in this paper, we have to face the approximation error, which will disturb the control. In order to surmount this problem, we use online data to calculate the weights of NN, and design robust controller to stabilize the disturbed nonlinear system. In other way, we used policy iteration and integral reinforcement learning to settle the Hamilton-Jacobi-Isaacs equation. And through the least-squares method, the NN weights are solved. Based on the theoretical analysis, this algorithm is a derivation from Gauss-Newton method, which can solve an optimization problem without disturbance. Thus it will converge to the optimal value. Because large quantities of online data are used, the process will accurately converge optimal control. Simulation results can verify that it's realizable to deal with disturbed nonlinear ZSG.

关键词： adaptive dynamic programming (ADP) zero-sum game (ZSG) single NN least-squares method

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adaptive reinforcement learning-Based Routing Protocol for Wireless Multihop Networks 14

Adaptive Reinforcement Learning-Based Routing Protocol for W...

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14th International Scientific-Technical Conference on Actual Problems of Electronic Instrument Engineering, APEIE 2018

作者： Dugaev, Dmitrii A. Matveev, Ivan G. Siemens, Eduard Shuvalov, Viatcheslav P. Faculty of Electrical Mechanical and Industrial Engineering Anhalt University of Applied Sciences Koethen Germany Novosibirsk Russia

ISBN: (纸本)9781538670545

This paper presents a research on a topic of development of an adaptive packet routing scheme for wireless multihop networks, based on reinforcement learning optimization algorithm. A brief overview of classical approaches for data routing in multihop networks is provided, emphasizing main drawbacks of such algorithms, caused by ineffective hop count routing metric used in traditional multihop routing algorithms. Then, an approach based on reinforcement learning theory is presented, that has a potential to select more effective routes, relying on feedback information from neighboring nodes. An algorithm based on reinforcement learning optimization function is proposed, as well as additional functions are introduced for initial route weights distribution and dynamic route probability selection, depending from the current packet loss ratio (PLR) and receive signal strength indicator (RSSI) factors. The elaborated adaptive routing scheme then has been tested in real wireless multihop topology, where a programming implementation of the proposed algorithm - RLRP protocol, showed better routing performance characteristics in terms of PLR and RRT (Route Recovery Time), compared to a traditional improved proactive scheme of wireless multihop routing, implemented in widely used B.A.T.M.A.N. (Better Approach to Mobile Ad hoc Networking) protocol. © 2018 ieee.

关键词： Routing protocols

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Supplementary Frequency Control for Multi-machine Power System Based on adaptive dynamic programming 15th

Supplementary Frequency Control for Multi-machine Power Syst...

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15th International symposium on Neural Networks (ISNN)

作者： Shi, Zhan Wang, Zhanshan Luo, Yanhong Ye, Dan Northeastern Univ Sch Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China

ISBN: (纸本)9783319925370;9783319925363

Power system is a nonlinear high-dimension complex system with dynamic uncertainties, how to carry out frequency regulation effectively in the event of disturbance is a difficult problem to be solved urgently. In this paper, a robust adaptive dynamic programming (robust ADP) based supplementary frequency controller for each generator is designed to solve multi-machine power system frequency regulation problem. The control policy iteration of each subsystem controller only uses their own state and input information for learning, without knowing the whole system dynamics. MATLAB and PSAT are used to establish the New England 10-machine 39-bus test system to verify the effective of the proposed control scheme. The simulation results show that the designed controller can effectively adapt to changes in the power system and make the system frequency recover to the reference value quickly.

关键词： Power system Frequency control Distributed control

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Model-Free Linear Discrete-Time System H_∞ Control Using Input-Output Data

Model-Free Linear Discrete-Time System H<sub>∞</sub> Contro...

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Fan, Jialu Li, Zhen Jiang, Yi Chai, Tianyou Lewis, Frank L. Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang Liaoning Peoples R China Univ Texas Arlington UTA Res Inst Arlington TX 76118 USA

ISBN: (纸本)9781538671740

In this paper, a data-driven output feedback H-infinity control algorithm for discrete-time linear systems with unknown dynamics has been proposed. At first, the standard model-based state feedback Hoo controller is formulated. Then, considering the state is not measurable and the system dynamic is unknown for some systems, we reformulate the value function of the Hoo control problem based on historical input and output data. Using the novel value function and adaptive dynamic programming approach, an online data-driven output feedback H-infinity control algorithm for linear discrete-time systems is proposed. Different from on-policy reinforcement learning based model-free control algorithms, the proposed algorithm can eliminate the influence of probing noise to guarantee unbiased solutions. A simulation example is employed to verify the effectiveness of the proposed control algorithm.

关键词： H-infinity Control reinforcement learning Off-policy Data-Driven

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