A Model-Free Optimal Control Method With Fixed Terminal States and Delay
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866914950627196928 |
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| author | Zhou, Mi Verriest, Erik Abdallah, Chaouki |
| author_facet | Zhou, Mi Verriest, Erik Abdallah, Chaouki |
| contents | Model-free algorithms are brought into the control system's research with the emergence of reinforcement learning algorithms. However, there are two practical challenges of reinforcement learning-based methods. First, learning by interacting with the environment is highly complex. Second, constraints on the states (boundary conditions) require additional care since the state trajectory is implicitly defined from the inputs and system dynamics. To address these problems, this paper proposes a new model-free algorithm based on basis functions, gradient estimation, and the Lagrange method. The favorable performance of the proposed algorithm is shown using several examples under state-dependent switches and time delays. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_10722 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Model-Free Optimal Control Method With Fixed Terminal States and Delay Zhou, Mi Verriest, Erik Abdallah, Chaouki Systems and Control Model-free algorithms are brought into the control system's research with the emergence of reinforcement learning algorithms. However, there are two practical challenges of reinforcement learning-based methods. First, learning by interacting with the environment is highly complex. Second, constraints on the states (boundary conditions) require additional care since the state trajectory is implicitly defined from the inputs and system dynamics. To address these problems, this paper proposes a new model-free algorithm based on basis functions, gradient estimation, and the Lagrange method. The favorable performance of the proposed algorithm is shown using several examples under state-dependent switches and time delays. |
| title | A Model-Free Optimal Control Method With Fixed Terminal States and Delay |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.10722 |