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CONSTRAINT ADAPTOR FOR REINFORCEMENT LEARNING CONTROL
CONSTRAINT ADAPTOR FOR REINFORCEMENT LEARNING CONTROL
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机译:增强学习控制的约束适配器
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摘要
A system for controlling an operation of a machine subject to state constraints in continuous state space of the machine and subject to control input constraints in continuous control input space of the machine is provided. The apparatus includes an input interface to accept data indicative of a state of the machine, a memory configured to store an optimization problem for computing the safety margin of a state and action pair satisfying the state constraints and a control policy mapping the state of the machine within a control invariant set (CIS) to a control input satisfying the control input constraints, and a processor configured to iteratively perform a reinforcement learning (RL) algorithm to jointly control the machine and update the control policy.
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