TY - GEN
T1 - Reinforcement Learning Compensation based PD Control for Inverted Pendulum
AU - Puriel-Gil, Guillermo
AU - Yu, Wen
AU - Sossa, Humberto
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/13
Y1 - 2018/11/13
N2 - In this paper, we present a Control Algorithm based on Reinforcement Learning for an inverted pendulum. By implementing the Q-Learning techniques in the PD control scheme, the pendulum is enabled to improve its online performance and adapt to changes in the parameters of the pendulum model. In a first step, Q-Learning is used so that the control can balance the pendulum towards its inverted vertical position; In a second step, we combine hybrid techniques of Q-Learning and PD control. With this combination, we can bring the pendulum to its inverted vertical position, regardless of the applied disturbance. Finally, the results of the simulation show the effectiveness of the proposed controller.
AB - In this paper, we present a Control Algorithm based on Reinforcement Learning for an inverted pendulum. By implementing the Q-Learning techniques in the PD control scheme, the pendulum is enabled to improve its online performance and adapt to changes in the parameters of the pendulum model. In a first step, Q-Learning is used so that the control can balance the pendulum towards its inverted vertical position; In a second step, we combine hybrid techniques of Q-Learning and PD control. With this combination, we can bring the pendulum to its inverted vertical position, regardless of the applied disturbance. Finally, the results of the simulation show the effectiveness of the proposed controller.
KW - Inverted Pendulum.
KW - Q-Learning
KW - Reinforcement Learning
UR - http://www.scopus.com/inward/record.url?scp=85058433348&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2018.8533946
DO - 10.1109/ICEEE.2018.8533946
M3 - Contribución a la conferencia
AN - SCOPUS:85058433348
T3 - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
BT - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
Y2 - 5 September 2018 through 7 September 2018
ER -