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Integration of adaptive control and reinforcement learning approaches for real-time control and learning. (arXiv:2105.06577v3 [cs.LG] UPDATED)
Jan. 21, 2022, 2:11 a.m. | Anuradha M. Annaswamy, Anubhav Guha, Yingnan Cui, Sunbochen Tang, Joseph E. Gaudio
cs.LG updates on arXiv.org arxiv.org
This paper considers the problem of real-time control and learning in dynamic
systems subjected to parametric uncertainties and proposes a controller that
combines Adaptive Control (AC) in the inner loop and a Reinforcement Learning
(RL) based policy in the outer loop. Two classes of nonlinear dynamic systems
are considered, both of which are control-affine. The first class of dynamic
systems utilizes equilibrium points with expansion forms around these points
and employs a Lyapunov approach. The second class of nonlinear systems …
arxiv integration learning real-time reinforcement learning time
More from arxiv.org / cs.LG updates on arXiv.org
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