Singular Perturbation-based Reinforcement Learning of Two-Point Boundary Optimal Control Systems

We solve the problem of two-point boundary optimal control of linear time-varying systems with unknown model dynamics using reinforcement learning. Leveraging singular perturbation theory techniques, we transform the time-varying optimal control problem into two time-invariant subproblems. This allo...

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Bibliographic Details
Main Authors: Reddy, Vasanth, Eldardiry, Hoda, Boker, Almuatazbellah
Format: Conference Proceeding
Language:English
Subjects:
Optimal control
Perturbation methods
Reinforcement learning
singular perturbation
Time-varying systems
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Summary:We solve the problem of two-point boundary optimal control of linear time-varying systems with unknown model dynamics using reinforcement learning. Leveraging singular perturbation theory techniques, we transform the time-varying optimal control problem into two time-invariant subproblems. This allows the utilization of an off-policy iteration method to learn the controller gains. We show that the performance of the learning-based controller approximates that of the model-based optimal controller and the approximation accuracy improves as the control problem's time horizon increases. We also provide a simulation example to verify the results.
ISSN:2378-5861
DOI:10.23919/ACC53348.2022.9867376