A Data-Based Feedback Relearning Algorithm for Uncertain Nonlinear Systems

doi:10.1109/JAS.2023.123186

A Data-Based Feedback Relearning Algorithm for Uncertain Nonlinear Systems

2023-05-01

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DOI：10.1109/JAS.2023.123186

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In this paper, a data-based feedback relearning algorithm is proposed for the robust control problem of uncertain nonlinear systems. Motivated by the classical on-policy and off-policy algorithms of reinforcement learning, the online feedback relearning (FR) algorithm is developed where the collected data includes the influence of disturbance signals. The FR algorithm has better adaptability to environmental changes (such as the control channel disturbances) compared with the off-policy algorithm, and has higher computational efficiency and better convergence performance compared with the on-policy algorithm. Data processing based on experience replay technology is used for great data efficiency and convergence stability. Simulation experiments are presented to illustrate convergence stability, optimality and algorithmic performance of FR algorithm by comparison.

Keywords:

Robust control

Uncertainty

Correlation

Neural networks

Reinforcement learning

Manipulators

Data processing

Data episodes

experience replay

neural networks

reinforcement learning (RL)

uncertain systems

A Data-Based Feedback Relearning Algorithm for Uncertain Nonlinear Systems

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