Q-learning-based feedback linearization method for unknown dynamics

被引：0
|
作者：
Sun, Yipu [1 ,2 ,3 ,4 ]
Chen, Xin [1 ,2 ,3 ]
He, Wenpeng [1 ,2 ,3 ,4 ]
Wang, Luo [1 ,2 ,3 ,4 ]
Fukushima, Edwardo F. [4 ]
She, Jinhua [4 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China
[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China
[3] Minist Educ, Engn Res Ctr Intelligent Technol Geoexplorat, Wuhan 430074, Peoples R China
[4] Tokyo Univ Technol, Sch Engn, Tokyo 14041, Japan
来源：
2023 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, ICM | 2023年
基金：
中国国家自然科学基金;
关键词：
Unknown nonlinear system; input-output feedback linearization; equivalent input interference; Q-learning; NONLINEAR-SYSTEMS;
D O I：
10.1109/ICM54990.2023.10101884
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper present a feedback linearization technique for affine nonlinear systems that is independent of system dynamics. First, a input-output feedback linearization correction framework is described, and a interference estimator is employed to guarantee the stability of plant during the learning process. Then, a model-free Q-learning algorithm is presented to solve the feedback linearized controller. Finally, the position control of a single-link flexible joint manipulator system is used as an example to demonstrate the effectiveness of the method.
引用
收藏
页数：6
相关论文
共 50 条
  • [1] Data-Driven Deep Learning Based Feedback Linearization of Systems with Unknown Dynamics
    Goswami, Raktim Gautam
    Krishnamurthy, Prashanth
    Khorrami, Farshad
    2023 AMERICAN CONTROL CONFERENCE, ACC, 2023, : 66 - 71
  • [2] A Q-learning-based network content caching method
    Chen, Haijun
    Tan, Guanzheng
    EURASIP JOURNAL ON WIRELESS COMMUNICATIONS AND NETWORKING, 2018,
  • [3] A Q-learning-based network content caching method
    Haijun Chen
    Guanzheng Tan
    EURASIP Journal on Wireless Communications and Networking, 2018
  • [4] Optimizing Q-Learning-Based Access Control Scheme Based on Q-Table Compression Method
    Ojetunde, Babatunde
    Yano, Kazuto
    2022 IEEE 33RD ANNUAL INTERNATIONAL SYMPOSIUM ON PERSONAL, INDOOR AND MOBILE RADIO COMMUNICATIONS (IEEE PIMRC), 2022,
  • [5] Q-Learning-based Multi-UAV Cooperative Path Planning Method
    Yin Y.
    Wang X.
    Zhou J.
    Binggong Xuebao/Acta Armamentarii, 2023, 44 (02): : 484 - 495
  • [6] Q-learning based model-free input-output feedback linearization control method ?
    Sun, Yipu
    Chen, Xin
    He, Wenpeng
    Zhang, Ziying
    Fukushima, Edwardo F.
    She, Jinhua
    IFAC PAPERSONLINE, 2023, 56 (02): : 9534 - 9539
  • [7] Multistage Competitive Opinion Maximization With Q-Learning-Based Method in Social Networks
    He, Qiang
    Zhang, Li
    Fang, Hui
    Wang, Xingwei
    Ma, Lianbo
    Yu, Keping
    Zhang, Jie
    IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2024, : 1 - 11
  • [8] Q-learning-based H∞ control for LPV systems
    Wang, Hongye
    Wen, Jiwei
    Wan, Haiying
    Xue, Huiwen
    ASIAN JOURNAL OF CONTROL, 2024,
  • [9] A Q-learning-based algorithm for the block relocation problem
    Liu, Liqun
    Feng, Yuanjun
    Zeng, Qingcheng
    Chen, Zhijun
    Li, Yaqiu
    JOURNAL OF HEURISTICS, 2025, 31 (01)
  • [10] A Q-learning-based smart clustering routing method in flying Ad Hoc networks
    Hosseinzadeh, Mehdi
    Tanveer, Jawad
    Rahmani, Amir Masoud
    Aurangzeb, Khursheed
    Yousefpoor, Efat
    Yousefpoor, Mohammad Sadegh
    Darwesh, Aso
    Lee, Sang-Woong
    Fazlali, Mahmood
    JOURNAL OF KING SAUD UNIVERSITY-COMPUTER AND INFORMATION SCIENCES, 2024, 36 (01)
12345