| Presentation | 2003/11/14 Nonlinear control by learning the switching of multiple controllers Masaya NISHIMURA, Junichiro YOSHIMOTO, Shin ISIHI, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Reinforcement learning(RL) has recently been applied to contracting a controller for nonlinear systems. Merits of the RL are that an exact dynamics model of the controlled object is not required and adaptability to non-stationary environments. If the dynamics has strong nonlinearity and/or high dimensionality, however, the RL suffers from unstable learning and/or a huge number of learning episodes. For this reason, a naive RL method is not suitable for the tasks in a real world. In order to overcome the disadvantage of the RL, we propose a new RL scheme using multiple incomplete controllers, each of which is constructed based on a locally linear dynamics in a specific subspace. An inverted-pendulum task and an acrobot control task on computer simulation showed that our method was able to select an appropriate incomplete controller for each subspace, so that a fairly good nonlinear control was realized. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | reinforcement learning / acrobot / nonlinear control |
| Paper # | NC2003-79 |
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| Conference Information | |
| Committee | NC |
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| Conference Date | 2003/11/14(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Neurocomputing (NC) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Nonlinear control by learning the switching of multiple controllers |
| Sub Title (in English) | |
| Keyword(1) | reinforcement learning |
| Keyword(2) | acrobot |
| Keyword(3) | nonlinear control |
| 1st Author's Name | Masaya NISHIMURA |
| 1st Author's Affiliation | Nara Institute of Science and Technology() |
| 2nd Author's Name | Junichiro YOSHIMOTO |
| 2nd Author's Affiliation | Nara Institute of Science and Technology:CREST, Japan Science and Technology Agency |
| 3rd Author's Name | Shin ISIHI |
| 3rd Author's Affiliation | Nara Institute of Science and Technology:CREST, Japan Science and Technology Agency |
| Date | 2003/11/14 |
| Paper # | NC2003-79 |
| Volume (vol) | vol.103 |
| Number (no) | 465 |
| Page | pp.pp.- |
| #Pages | 6 |
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