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Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning
Luo, Biao1; Wu, Huai-Ning2; Huang, Tingwen3
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2018-06-01
Volume65Issue:6Pages:4953-4961
SubtypeArticle
AbstractIn this paper, the optimal output regulation problem is considered for the model-free 2-degree-of-freedom (2-DOF) helicopter. A multistep Q-learning (MsQL) method is developed with multistep policy evaluation. First, by introducing the Q-function, the optimal output regulation problem is converted to finding the optimal Q-function. Therefore, the MsQL algorithm is proposed and its convergence theory is established by showing that it generates a non-increasing Q-function sequence that converges to the optimal Q-function. In the MsQL, the step-size of multistep policy evaluation can be different at each iteration and an adaptive tuning rule is proposed. The MsQL learns the optimal Q-function by using real system data rather than using a system model. Finally, the developed MsQL method is employed to solve the optimal output regulation problem of the model-free 2-DOF helicopter, and its effectiveness is verified.
KeywordHelicopter Model-free Multistep Policy Evaluation Optimal Output Regulation Q-learning
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2017.2772162
WOS KeywordH-INFINITY CONTROL ; DISCRETE-TIME-SYSTEMS ; ADAPTIVE OPTIMAL-CONTROL ; UNKNOWN DYNAMICS ; POLICY ITERATION ; CONTROL DESIGN ; TRACKING CONTROL
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61503377 ; Qatar National Research Fund under National Priority Research Project(NPRP 9 166-1-031) ; 61533017 ; 61625302 ; 61473011 ; U1501251)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000425618900051
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21957
Collection复杂系统管理与控制国家重点实验室_平行控制
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Beihang Univ, Beijing Univ Aeronaut & Astronaut, Sci & Technol Aircraft Control Lab, Beijing 100191, Peoples R China
3.Texas A&M Univ Qatar, Doha, Qatar
Recommended Citation
GB/T 7714
Luo, Biao,Wu, Huai-Ning,Huang, Tingwen. Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2018,65(6):4953-4961.
APA Luo, Biao,Wu, Huai-Ning,&Huang, Tingwen.(2018).Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,65(6),4953-4961.
MLA Luo, Biao,et al."Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 65.6(2018):4953-4961.
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