Reinforcement Learning Tracking Control for Unknown Continuous Dynamic Systems

Linqi Ye,Jiayi Li,Changliang Wang,Houde Liu,Bin Liang

2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)（2021）

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摘要

Reinforcement learning tracking control (ILC) is proposed to solve the traditional iterative learning control (ILC) problem. For unknown continuous dynamic systems, precision output tracking is achieved for a given trajectory after several times of trials. The controller is composed of a feedback part and a feedforward part, where the feedback part uses linear states feedback to stabilize the syst...

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关键词

Interpolation,Tracking loops,State feedback,Reinforcement learning,Trajectory,Feedforward systems,Task analysis

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