0% Complete
صفحه اصلی
/
سی و یکمین کنفرانس بین المللی مهندسی برق
A reinforcement learning-based control approach for tracking problem of a class of nonlinear systems: Applied to a Single-Link Manipulator
نویسندگان :
Farshad Rahimi
1
Sepideh Ziaei
2
Reza Mahboobi Esfanjani
3
1- دانشگاه صنعتی سهند تبریز
2- دانشگاه صنعتی سهند تبریز
3- دانشگاه صنعتی سهند تبریز
کلمات کلیدی :
neural networks،adaptive control،nonlinear system،adversarial attacks
چکیده :
This paper introduces a reinforcement learning-based tracking control approach for a class of nonlinear systems using neural networks in the presence of adversarial attacks. This approach incorporates a simultaneous tracking and optimization process. It is necessary to be able to solve the Hamilton-Jacobi-Bellman equation (HJB) in order to obtain optimal control input, but this is difficult due to the strong nonlinearity terms in the equation. In order to find the solution to the HJB equation, we used a reinforcement learning approach. In this online adaptive learning approach, three neural networks are simultaneously adapted: the critic neural network, the actor neural network, and the adversary neural network. Ultimately, simulation results are presented to demonstrate the effectiveness of the introduced method on a manipulator.
لیست مقالات
لیست مقالات بایگانی شده
طراحی خودرمزگذار متغیر جهت تشخیص عیب در بیرینگهای غلتشی
مریم آهنگ - مهدی علیاری شورهدلی
Design and Implementation of a fast flexible and efficient multichannel digital filter for hearing aids
Mohammadsadegh Poushnegar - Mahmoud Tabandeh - Meysam Nesary Moghadam - Farzam Gilani - Ali Aghakasiri
An Iterative Post-processing Method for Speech Source Separation in Realistic Scenarios
Iman Shahriari - Hossein Zeinali
طراحی بهینه چند هدفی کنترل کننده مدلغزشی مرتبه کسری برای سیستم کوادروتور
ابوالفضل انصاریان - جواد عسکری - مرضیه کمالی - محمدجواد محمودآبادی
Agglomerative Hierarchical Clustering Based on Q-learning for D2D Communication in Public Safety Communication Networks
Sahel Alipour - Mohammad Mansour Kesargheh - Abdulhamid Zahedi - Ghasem Mirjalily - Jamshid Abouei
Machine Learning-based Fundamental Stock Prediction Using Companies’ Financial Reports
Hossein Rezaei - Kamran Abdi - Mohsen Hooshmand
A New Protocol to Improve Effect of repetitive Transcranial Magnetic Stimulation in Treatment of Alzheimer's Disease
Ali Abedi - Gholamreza Moradi - Reza Sarraf Shirazi - Mehran Jahed
Slice-Aware Resource Calendaring in Cloud-based Radio Access Networks
Zeinab Sasan - Siavash Khorsandi
Using a Novel Connection Triangle as a Classifier to Discriminate between Different Faults in the Frequency Response Analysis
Mohammad Hamed Samimi
کنترل فرآیند سیستم های حرارتی بر اساس مدل دو بعدیFMM و رویکرد یادگیری تکرارشونده تطبیقی
سهیلا عابدی - طاهره بینازاده
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0