کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
380157 1437423 2016 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Lyapunov theory based stable Markov game fuzzy control for non-linear systems
ترجمه فارسی عنوان
کنترل فازی بازی مارکوف پایدار مبتنی بر نظریۀ لیاپانوف برای سیستم های غیرخطی
کلمات کلیدی
یادگیری تقویت، یادگیری Q، بازی های مارکوف فازی، نظریۀ لیاپانوف، پاندول معکوس، بازوی ربات دو لینک، اسکارا (SCARA)
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی

In this paper we propose a Lyapunov theory based Markov game fuzzy controller which is both safe and stable. We attempt to optimize a reinforcement learning (RL) based controller using Markov games, simultaneously hybridizing it with a Lyapunov theory based control for stability. Proposed technique generates in an RL based game theoretic, adaptive, self learning, optimal fuzzy controller which is both robust and has guaranteed stability. Proposed controller is an “annealed” hybrid of fuzzy Markov games and the Lyapunov theory based control. Fuzzy systems have been employed as generic function approximators for scaling the proposed approach to continuous state-action domains. We test our proposed controller on three benchmark non-linear control problems: (i) inverted pendulum, (ii) trajectory tracking of standard two-link robotic manipulator, and (iii) tracking control of a two link selective compliance assembly robotic arm (SCARA). Simulation results and comparative evaluation against baseline fuzzy Markov game based control showcases superiority and effectiveness of the proposed approach.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Engineering Applications of Artificial Intelligence - Volume 55, October 2016, Pages 119–127
نویسندگان
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