کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Safe Controller for Uncertain Nonlinear Systems using Model-based Reinforcement Learning

نویسندگان :

Sajjad Rashidian¹ Khalil Alipour²

1- University of Tehran 2- University of Tehran

کلمات کلیدی :

Barrier Lyapunov function،reinforcement learning،safe control

چکیده :

In this paper a reinforcement learning algorithm is proposed to solve an infinite horizon optimal control problem for uncertain nonlinear systems under state constraint. We first develop a safe controller using time derivative of barrier Lyapunov function and then we use this to modify an actor-critic-identifier approach to safely learn optimal control policy. Furthermore, the safety analysis is presented. Finally, Simulation results prove the efficacy of the proposed method.

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