TY - GEN
T1 - Q-learning-based model-free swing up control of an inverted pendulum
AU - Ghio, Alessio
AU - Ramos, Oscar E.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - An inverted pendulum is a high non-linear, chaotic and dynamically complex system, which presents problems for traditional controllers that require feedback loops and a precise dynamic model of the system. Reinforcement learning is an promising approach, since it does not need the dynamic model and generates autonomous actions based on experience. However, solving a control problem with reinforcement learning is challenging, because every dynamic system has a continuous state space. In this paper, an algorithm that uses Q-learning with function approximation is proposed to control an inverted pendulum. The algorithm consists of two stages, one for swing up, and another for the control at upright position. Results show that the proposed approach reaches the control objectives.
AB - An inverted pendulum is a high non-linear, chaotic and dynamically complex system, which presents problems for traditional controllers that require feedback loops and a precise dynamic model of the system. Reinforcement learning is an promising approach, since it does not need the dynamic model and generates autonomous actions based on experience. However, solving a control problem with reinforcement learning is challenging, because every dynamic system has a continuous state space. In this paper, an algorithm that uses Q-learning with function approximation is proposed to control an inverted pendulum. The algorithm consists of two stages, one for swing up, and another for the control at upright position. Results show that the proposed approach reaches the control objectives.
KW - Control
KW - Function approximation
KW - Inverted pendulum
KW - Model-free
KW - Q-learning
KW - Reinforcement learning
UR - http://www.scopus.com/inward/record.url?scp=85073556996&partnerID=8YFLogxK
U2 - 10.1109/INTERCON.2019.8853619
DO - 10.1109/INTERCON.2019.8853619
M3 - Conference contribution
AN - SCOPUS:85073556996
T3 - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
BT - Proceedings of the 2019 IEEE 26th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 26th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2019
Y2 - 12 August 2019 through 14 August 2019
ER -