Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning

doi:10.1109/TIE.2017.2772162

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 复杂系统智能机理与平行控制团队

	Optimal Output Regulation for Model-Free Quanser Helicopter With Multistep Q-Learning
	Luo, Biao1 ; Wu, Huai-Ning 2; Huang, Tingwen 3
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2018-06-01
卷号	65 期号:6 页码:4953-4961
文章类型	Article
摘要	In 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.
关键词	Helicopter Model-free Multistep Policy Evaluation Optimal Output Regulation Q-learning
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TIE.2017.2772162
关键词[WOS]	H-INFINITY CONTROL ; DISCRETE-TIME-SYSTEMS ; ADAPTIVE OPTIMAL-CONTROL ; UNKNOWN DYNAMICS ; POLICY ITERATION ; CONTROL DESIGN ; TRACKING CONTROL
收录类别	SCI
语种	英语
项目资助者	National 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研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000425618900051
引用统计	被引频次：69[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/21957
专题	多模态人工智能系统全国重点实验室_复杂系统智能机理与平行控制团队
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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.