Proposal of Deterministic Policy Gradient Method for Port-Hamiltonian Systems Using Eligibility Trace and Verification by Numerical Experiment

Abstract

This paper proposes a deterministic policy gradient method for port-Hamiltonian systems using an eligibility trace. The deterministic policy gradient method commonly uses one of two types of algorithms, either the on- or off-policy method. The proposed algorithm employs the off-policy method to perform a probabilistic search. In addition, we introduce an eligibility trace to the method to speed up the learning process. A numerical simulation shows the effectiveness of the proposed method.