強化学習制御と適応H∞制御の協働型制御方式

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/08/01

タイトル(英語): A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

著者名: 大林　正直（山口大学大学院理工学研究科），内山　祥吾（山口大学大学院理工学研究科），呉本　尭（山口大学大学院理工学研究科），小林　邦和（山口大学大学院理工学研究科）

著者名(英語): Masanao Obayashi (Graduate School of Science and Engineering, Yamaguchi University), Shogo Uchiyama (Graduate School of Science and Engineering, Yamaguchi University), Takashi Kuremoto (Graduate School of Science and Engineering, Yamaguchi University), Kunikazu Kobayashi (Graduate School of Science and Engineering, Yamaguchi University)

キーワード: 強化学習，ロバスト制御，H∞制御，協働型制御　　reinforcement learning，robust control，H∞ control，cooperated control

要約(英語): This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.8 （2011）

本誌掲載ページ: 1467-1474 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/8/131_8_1467/_article/-char/ja/