Efficient model-based reinforcement learning for approximate online optimal control
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Publication:340682
DOI10.1016/J.AUTOMATICA.2016.08.004zbMATH Open1348.93167arXiv1502.02609OpenAlexW1540245649MaRDI QIDQ340682FDOQ340682
Joel A. Rosenfeld, Rushikesh Kamalapurkar, Warren E. Dixon
Publication date: 14 November 2016
Published in: Automatica (Search for Journal in Brave)
Abstract: In this paper the infinite horizon optimal regulation problem is solved online for a deterministic control-affine nonlinear dynamical system using the state following (StaF) kernel method to approximate the value function. Unlike traditional methods that aim to approximate a function over a large compact set, the StaF kernel method aims to approximate a function in a small neighborhood of a state that travels within a compact set. Simulation results demonstrate that stability and approximate optimality of the control system can be achieved with significantly fewer basis functions than may be required for global approximation methods.
Full work available at URL: https://arxiv.org/abs/1502.02609
Learning and adaptive systems in artificial intelligence (68T05) Applications of optimal control and differential games (49N90) Adaptive control/observation systems (93C40)
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