Ant Colony Learning Algorithm for Optimal Control

2010 ◽  
pp. 155-182 ◽  
Author(s):  
Jelmer Marinus van Ast ◽  
Robert Babuška ◽  
Bart De Schutter
Keyword(s):  
Optimal Control ◽  
Learning Algorithm ◽  
Ant Colony

scholarly journals Online Optimal Control of Robotic Systems with Single Critic NN-Based Reinforcement Learning

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Xiaoyi Long ◽  
Zheng He ◽  
Zhongyuan Wang
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Tracking Control ◽  
Learning Algorithm ◽  
Tracking Error ◽  
Adaptive Dynamic Programming ◽  
Robotic Systems ◽  
Control Synthesis ◽  
Optimal Tracking ◽  
Optimal Tracking Control

This paper suggests an online solution for the optimal tracking control of robotic systems based on a single critic neural network (NN)-based reinforcement learning (RL) method. To this end, we rewrite the robotic system model as a state-space form, which will facilitate the realization of optimal tracking control synthesis. To maintain the tracking response, a steady-state control is designed, and then an adaptive optimal tracking control is used to ensure that the tracking error can achieve convergence in an optimal sense. To solve the obtained optimal control via the framework of adaptive dynamic programming (ADP), the command trajectory to be tracked and the modified tracking Hamilton-Jacobi-Bellman (HJB) are all formulated. An online RL algorithm is the developed to address the HJB equation using a critic NN with online learning algorithm. Simulation results are given to verify the effectiveness of the proposed method.

Diagonal recurrent neural network observer-based adaptive control for unknown nonlinear systems

2020 ◽  
Vol 42 (15) ◽  
pp. 2833-2856
Author(s):  
Ahmed Elkenawy ◽  
Ahmad M El-Nagar ◽  
Mohammad El-Bardini ◽  
Nabila M El-Rabaie
Keyword(s):  
Neural Network ◽  
Optimal Control ◽  
Adaptive Control ◽  
Nonlinear Systems ◽  
Recurrent Neural Network ◽  
Learning Algorithm ◽  
Lyapunov Stability Theory ◽  
Adaptive Dynamic Programming ◽  
External Disturbances ◽  
System States

This paper proposes an observer-based adaptive control for unknown nonlinear systems using an adaptive dynamic programming (ADP) algorithm. First, a diagonal recurrent neural network (DRNN) observer is proposed to estimate the unknown dynamics of the nonlinear system states. The proposed neural network offers a simpler structure with deeper memory and guarantees the faster convergence. Second, a neural controller is constructed via ADP method using the observed states to get the optimal control. The optimal control law is determined based on the new structure of the critic network, which is performed using the DRNN. The learning algorithm for the proposed DRNN observer-based adaptive control is developed based on the Lyapunov stability theory. Simulation results and hardware-in-the-loop results indicate the robustness of the proposed ADP to respond the system uncertainties and external disturbances compared with other existing schemes.

Fuzzy Ant Colony Optimization for optimal control

2009 ◽  
Author(s):  
Jelmer van Ast ◽  
Robert Babuska ◽  
Bart De Schutter
Keyword(s):  
Optimal Control ◽  
Ant Colony Optimization ◽  
Ant Colony

Optimal control of two-photon transitions: bright and dark femtosecond pulses designed by a self-learning algorithm

2000 ◽  
Author(s):  
T. Hornung ◽  
R Meier ◽  
D. Zeidler ◽  
K.-L. Kompa ◽  
D. Proch ◽  
...  
Keyword(s):  
Optimal Control ◽  
Learning Algorithm ◽  
Femtosecond Pulses ◽  
Two Photon ◽  
Self Learning

Emergency materials transportation model in disasters based on dynamic programming and ant colony optimization

Kybernetes ◽  
2017 ◽  
Vol 46 (4) ◽  
pp. 656-671 ◽  
Author(s):  
Jia Liu ◽  
Kefan Xie
Keyword(s):  
Dynamic Programming ◽  
Ant Colony Optimization ◽  
Learning Algorithm ◽  
Computing Time ◽  
Ant Colony ◽  
Emergency Relief ◽  
Content Type ◽  
Solution Approach ◽  
The Government ◽  
Varying Demand

Purpose While scheduling and transporting emergency materials in disasters, the emergency materials and delivery vehicles are arriving at the distributing center constantly. Meanwhile, the information of the disaster reported to the government is updating continuously. Therefore, this paper aims to propose an approach to help the government make a transportation plan of vehicles in response to the disasters addressing the problem of material demand and vehicle amount continual alteration. Design/methodology/approach After elaborating the features and process of the emergency materials transportation, this paper proposes an emergency materials scheduling model in the case of material demand and vehicle amount continual alteration. To solve this model, the paper provides the vehicle transportation route allocation algorithm based on dynamic programming and the disaster area supply sequence self-learning algorithm based on ant colony optimization. Afterwards, the paper uses the model and the solution approach to computing the optimal transportation scheme of the food supply in Lushan earthquake in China. Findings The case study shows that the model and the solution approach proposed by this paper are valuable to make the emergency materials transportation scheme precise and efficient. The problem of material demand and vehicle amount changing continually during the process of the emergency materials transportation is solved promptly. Originality/value The model proposed by this paper improves the existing similar models in the following aspects: the model and the solution approach can not only solve the emergency materials transportation problem in the condition of varying demand and vehicle amount but also save much computing time; and the assumptions of this model are consistent with the actual situation of the emergency relief in disasters so that the model has a broad scope of application.

scholarly journals On Stability of Perturbed Nonlinear Switched Systems with Adaptive Reinforcement Learning

Energies ◽  
2020 ◽  
Vol 13 (19) ◽  
pp. 5069
Author(s):  
Phuong Nam Dao ◽  
Hong Quang Nguyen ◽  
Minh-Duc Ngo ◽  
Seon-Ju Ahn
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Switched Systems ◽  
Tracking Control ◽  
Control Method ◽  
Learning Algorithm ◽  
Hjb Equation ◽  
Control Approach ◽  
Nonlinear Switched Systems ◽  
Hamilton Jacobi Bellman

In this paper, a tracking control approach is developed based on an adaptive reinforcement learning algorithm with a bounded cost function for perturbed nonlinear switched systems, which represent a useful framework for modelling these converters, such as DC–DC converter, multi-level converter, etc. An optimal control method is derived for nominal systems to solve the tracking control problem, which results in solving a Hamilton–Jacobi–Bellman (HJB) equation. It is shown that the optimal controller obtained by solving the HJB equation can stabilize the perturbed nonlinear switched systems. To develop a solution to the translated HJB equation, the proposed neural networks consider the training technique obtaining the minimization of square of Bellman residual error in critic term due to the description of Hamilton function. Theoretical analysis shows that all the closed-loop system signals are uniformly ultimately bounded (UUB) and the proposed controller converges to optimal control law. The simulation results of two situations demonstrate the effectiveness of the proposed controller.

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