電気学会論文誌C(電子・情報・システム部門誌)
Online ISSN : 1348-8155
Print ISSN : 0385-4221
ISSN-L : 0385-4221
<ソフトコンピューティング・学習>
強化学習制御と適応H制御の協働型制御方式
大林 正直内山 祥吾呉本 尭小林 邦和
著者情報
ジャーナル 認証あり

2011 年 131 巻 8 号 p. 1467-1474

詳細
抄録

This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

著者関連情報
© 電気学会 2011
前の記事 次の記事
feedback
Top