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Adaptive linear quadratic control using policy iteration
Abstract
In this paper we present the stability and convergence results for dynamic programming-based reinforcement learning applied to linear quadratic regulation (LQR). The specific algorithm we analyze is based on Q-learning and it is proven to converge to an optimal controller provided that the underlying system is controllable and a particular signal vector is persistently excited. This is the first convergence result for DP-based reinforcement learning algorithms for a continuous problem.
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Cites
Learning to predict by the methods of temporal differences
Sutton, R. S. (1988) · Machine Learning · doi:10.1007/bf00115009 · Cited by 5,148
Cited by
Discrete-Time Nonlinear HJB Solution Using Approximate Dynamic Programming: Convergence Proof
Al-Tamimi, A., Lewis, F. L., & Abu-Khalaf, M. (2008) · IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) · doi:10.1109/tsmcb.2008.926614 · Cited by 1,075
Jiang, Y., & Jiang, Z.-P. (2012) · Automatica · doi:10.1016/j.automatica.2012.06.096 · Cited by 1,072
A Survey of Actor-Critic Reinforcement Learning: Standard and Natural Policy Gradients
Grondman, I., Busoniu, L., Lopes, G. A. D., & Babuska, R. (2012) · IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) · doi:10.1109/tsmcc.2012.2218595 · Cited by 1,042
Optimal and Autonomous Control Using Reinforcement Learning: A Survey
Kiumarsi, B., Vamvoudakis, K. G., Modares, H., & Lewis, F. L. (2018) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2017.2773458 · Cited by 891
Peters, J., & Schaal, S. (2008) · Neurocomputing · doi:10.1016/j.neucom.2007.11.026 · Cited by 738
Metadata
- Authors
- Bradtke, S. J., Ydstie, B. E., & Barto, A. G.
- Venue
- Proceedings of 1994 American Control Conference - ACC '94
- Publisher
- IEEE
- Published
- 2005-08-24
- Volume
- 3
- Pages
- 3475-3479
- ISSN
- 0743-1619 (ISSN-L)
- OpenAlex
- W1616818660
- Cited by
- 404
- References
- 1
- FWCI
- 7.44
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Bradtke, S. J., Ydstie, B. E., & Barto, A. G. (2005). Adaptive linear quadratic control using policy iteration. Proceedings of 1994 American Control Conference - ACC '94. https://doi.org/10.1109/acc.1994.735224
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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