2015 Volume 135 Issue 2 Pages 215-224
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.
The transactions of the Institute of Electrical Engineers of Japan.C
The Journal of the Institute of Electrical Engineers of Japan