Deep reinforcement learning with guaranteed performance : a Lyapunov-based approach / Yinyan Zhang, Shuai Li, Xuefeng Zhou.
2020
QA402.3
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Details
Title
Deep reinforcement learning with guaranteed performance : a Lyapunov-based approach / Yinyan Zhang, Shuai Li, Xuefeng Zhou.
Author
Zhang, Yinyan, author.
ISBN
9783030333843 (electronic book)
3030333841 (electronic book)
9783030333836
3030333833
3030333841 (electronic book)
9783030333836
3030333833
Published
Cham, Switzerland : Springer, [2020].
Language
English
Description
1 online resource (xvii, 225 pages) : illustrations.
Item Number
10.1007/978-3-030-33384-3 doi
10.1007/978-3-030-33
10.1007/978-3-030-33
Call Number
QA402.3
Dewey Decimal Classification
629.8/312
Summary
This book discusses methods and algorithms for the near-optimal adaptive control of nonlinear systems, including the corresponding theoretical analysis and simulative examples, and presents two innovative methods for the redundancy resolution of redundant manipulators with consideration of parameter uncertainty and periodic disturbances. It also reports on a series of systematic investigations on a near-optimal adaptive control method based on the Taylor expansion, neural networks, estimator design approaches, and the idea of sliding mode control, focusing on the tracking control problem of nonlinear systems under different scenarios. The book culminates with a presentation of two new redundancy resolution methods; one addresses adaptive kinematic control of redundant manipulators, and the other centers on the effect of periodic input disturbance on redundancy resolution. Each self-contained chapter is clearly written, making the book accessible to graduate students as well as academic and industrial researchers in the fields of adaptive and optimal control, robotics, and dynamic neural networks.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Source of Description
Online resource; title from PDF title page (SpringerLink, viewed November 13, 2019).
Added Author
Li, Shuai, 1983- author.
Zhou, Xuefeng, author.
Zhou, Xuefeng, author.
Series
Studies in systems, decision and control ; v. 265.
Available in Other Form
Print version: 9783030333836
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Table of Contents
A Survey of Near-Optimal Control of Nonlinear Systems
Near-Optimal Control with Input Saturation
Adaptive Near-Optimal Control with Full-State Feedback
Adaptive Near-Optimal Control Using Sliding Mode
Model-Free Adaptive Near-Optimal Tracking Control
Adaptive Kinematic Control of Redundant Manipulators
Redundancy Resolution with Periodic Input Disturbance.
Near-Optimal Control with Input Saturation
Adaptive Near-Optimal Control with Full-State Feedback
Adaptive Near-Optimal Control Using Sliding Mode
Model-Free Adaptive Near-Optimal Tracking Control
Adaptive Kinematic Control of Redundant Manipulators
Redundancy Resolution with Periodic Input Disturbance.