| Title |
Model-free H_∞ Control of Linear Discrete-time Systems using Q-learning and LMI Based on I/O Data |
| Authors |
김진훈(Kim, Jin-Hoon) ; Lewis, F.L.(Lewis, F.L.) |
| Keywords |
Model-free H_∞ control ; Linear discrete-time system ; I/O data ; Q-learning ; LMI |
| Abstract |
In this paper, we consider the design of H_∞ control of linear discrete-time systems having no mathematical model. The basic approach is to use Q-learning which is a reinforcement learning method based on actor-critic structure. The model-free control design is to use not the mathematical model of the system but the informations on states and inputs. As a result, the derived iterative algorithm is expressed as linear matrix inequalities(LMI) of measured data from system states and inputs. It is shown that, for a sufficiently rich enough disturbance, this algorithm converges to the standard H_∞ control solution obtained using the exact system model. A simple numerical example is given to show the usefulness of our result on practical application. |