Online and model-free supplementary learning control based on approximate dynamic programming

Wentao Guo, Feng Liu, Jennie Si, Shengwei Mei

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An approximate dynamic programming (ADP) based supplementary learning control method is developed to online improve the performance of existing controllers. The proposed supplementary learning structure can make full use of the prior knowledge of the pre-designed controller and endow the controller with learning ability. Moreover, by introducing the action dependent value function for policy evaluation, the supplementary learning control can work in a model-free manner. The policy iteration algorithm is employed to train the actor-critic structure of the ADP supplementary controller. Simulation studies are carried out on the cart-pole system to validate the optimization and the adaptation capability of the proposed methodology.

Original languageEnglish (US)
Title of host publication26th Chinese Control and Decision Conference, CCDC 2014
PublisherIEEE Computer Society
Pages1316-1321
Number of pages6
ISBN (Print)9781479937066
DOIs
StatePublished - Jan 1 2014
Event26th Chinese Control and Decision Conference, CCDC 2014 - Changsha, China
Duration: May 31 2014Jun 2 2014

Publication series

Name26th Chinese Control and Decision Conference, CCDC 2014

Other

Other26th Chinese Control and Decision Conference, CCDC 2014
CountryChina
CityChangsha
Period5/31/146/2/14

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Keywords

  • Approximate Dynamic Programming
  • Model-Free
  • Online
  • Supplementary Control

ASJC Scopus subject areas

  • Information Systems and Management
  • Control and Systems Engineering

Cite this

Guo, W., Liu, F., Si, J., & Mei, S. (2014). Online and model-free supplementary learning control based on approximate dynamic programming. In 26th Chinese Control and Decision Conference, CCDC 2014 (pp. 1316-1321). [6852370] (26th Chinese Control and Decision Conference, CCDC 2014). IEEE Computer Society. https://doi.org/10.1109/CCDC.2014.6852370