强化学习
迭代学习控制
计算机科学
控制理论(社会学)
模糊逻辑
理论(学习稳定性)
控制系统
模糊控制系统
人工神经网络
非线性系统
班级(哲学)
控制工程
控制(管理)
人工智能
机器学习
工程类
物理
电气工程
量子力学
作者
Wentai Shao,Yutao Chen,Jie Huang
标识
DOI:10.1109/icnsc52481.2021.9702159
摘要
In this paper, an optimized formation control based on single critic reinforcement learning is developed for a class of second-order multi-agent systems. Unlike first-order systems, both position and velocity variables need to be considered in second-order system control. Therefore, the control of second-order systems is more challenging. In the control design, single critic reinforcement learning method combined with fuzzy logic systems is used. Fuzzy logic systems approximator is used to compensate the nonlinearity of the systems. Compared with the actor-critic reinforcement learning method, single critic reinforcement learning requires only one network iterative training such that the training errors are smaller, and the calculation time caused by the iterative loop between actor and critic can be reduced. According to the analysis of Lyapunov stability theory, the proposed control design can achieve the control objective. Finally, the effectiveness of the proposed method is verified by simulation.
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