当前位置: X-MOL 学术arXiv.cs.RO › 论文详情
Model-Reference Reinforcement Learning Control of Autonomous Surface Vehicles with Uncertainties
arXiv - CS - Robotics Pub Date : 2020-03-30 , DOI: arxiv-2003.13839
Qingrui Zhang; Wei Pan; Vasso Reppa

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional control, we can ensure the learning-based control law provides closed-loop stability for the overall system, and potentially increase the sample efficiency of the deep reinforcement learning. With the reinforcement learning, we can directly learn a control law to compensate for modeling uncertainties. In the proposed control, a nominal system is employed for the design of a baseline control law using a conventional control approach. The nominal system also defines the desired performance for uncertain autonomous vehicles to follow. In comparison with traditional deep reinforcement learning methods, our proposed learning-based control can provide stability guarantees and better sample efficiency. We demonstrate the performance of the new algorithm via extensive simulation results.
更新日期:2020-04-01

 

全部期刊列表>>
智控未来
聚焦商业经济政治法律
跟Nature、Science文章学绘图
控制与机器人
招募海内外科研人才,上自然官网
隐藏1h前已浏览文章
课题组网站
新版X-MOL期刊搜索和高级搜索功能介绍
ACS材料视界
x-mol收录
湖南大学化学化工学院刘松
上海有机所
廖良生
南方科技大学
西湖大学
伊利诺伊大学香槟分校
徐明华
中山大学化学工程与技术学院
试剂库存
天合科研
down
wechat
bug