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صفحه اصلی
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نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون
Safe Controller for Uncertain Nonlinear Systems using Model-based Reinforcement Learning
نویسندگان :
Sajjad Rashidian
1
Khalil Alipour
2
1- University of Tehran
2- University of Tehran
کلمات کلیدی :
Barrier Lyapunov function،reinforcement learning،safe control
چکیده :
In this paper a reinforcement learning algorithm is proposed to solve an infinite horizon optimal control problem for uncertain nonlinear systems under state constraint. We first develop a safe controller using time derivative of barrier Lyapunov function and then we use this to modify an actor-critic-identifier approach to safely learn optimal control policy. Furthermore, the safety analysis is presented. Finally, Simulation results prove the efficacy of the proposed method.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.2.8