Nonlinear Control of Partially Known Systems Based on Polynomial Representation and Reinforcement Learning

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カテゴリ: 論文誌(論文単位)グループ名: 【C】電子・情報・システム部門発行日: 2015/02/01タイトル(英語): Nonlinear Control of Partially Known Systems Based on Polynomial Representation and Reinforcement Learning著者名: Yuta Ts uge (Department of Information-aided Technology, Toyota Technological Institute), Tanagorn Jennawasin (Department of Electrical Engineering, National Chung Hsing University), Tatsuo Narikiyo (Department of Information-aided Technology, Toyota Techn著者名(英語): Yuta Tsuge (Department of Information-aided Technology, Toyota Technological Institute), Tanagorn Jennawasin (Department of Electrical Engineering, National Chung Hsing University), Tatsuo Narikiyo (Department of Information-aided Technology, Toyota Technological Institute), Michihiro Kawanishi (Department of Information-aided Technology, Toyota Technological Institute)キーワード: nonlinear control，polynomial systems，sum of squares approach，reinforcement learning，Furuta pendulum要約(英語): In this study we propose a stabilizing controller for partially known systems. We assume that the partially known systems can be identified as polynomial systems on a neighborhood of equilibrium point. For polynomial systems we give a stabilizing controller and the domain of attraction(DOA) by means of the Lyapunov function. Since the reinforcement learning is carried out by the Lyapunov function, the reinforcement learning controller can be connected to the stabilizing controller of the polynomial systems on the DOA. To demonstrate the usefulness and validity of the proposed method, we apply the proposed control method to the Furuta pendulum.本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.135 No.2 （2015） 特集：フレキシブルフィルムデバイスのための材料・プロセスと評価技術本誌掲載ページ: 215-224 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/135/2/135_215/_article/-char/ja/ Show more