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针对线性离散时间系统的非零和博弈问题,提出一种非策略Q学习算法。首先,提出非零和博弈优化问题,并且严格证明根据每个个体性能指标定义的值函数为线性二次型。然后,基于动态规划和Q学习方法,给出非策略Q学习算法,得到非零和博弈的近似最优解,实现系统的全局纳什均衡。此算法不要求系统模型参数已知,完全利用可测数据学习纳什均衡解。最后,算例仿真验证了方法的有效性。 相似文献
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流水线可重构系统设计方法是目前动态可重构系统设计的一种重要设计方法.为进一步提高流水线可重构系统的性能,讨论并提出了一种简洁高效的流水线路由进化策略:包括基于二维阵列结构的流水线路径时延大小的评估函数、可重构单元阵列使用情况的状态矩阵函数和结合评估函数和状态矩阵的最短时延路径搜索算法.通过对算法的仿真,验证了其正确性和有效性,为下一步研究流水线可重构结构路由的硬件进化方法奠定了理论基础. 相似文献
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哈希学习通过设计和优化目标函数,并结合数据分布,学习得到样本的哈希码表示.在现有哈希学习模型中,线性模型因其高效、便捷的特性得到广泛应用.针对线性模型在哈希学习中的参数优化问题,提出一种基于相似度驱动的线性哈希模型参数再优化方法.该方法可以在不改变现有模型各组成部分的前提下,实现模型参数的再优化,提升模型检索性能.该方法首先通过运行现有哈希算法多次,获得训练集的多个哈希码矩阵,然后基于相似度保持度量标准和融合准则对多个哈希码矩阵进行优化选择,获得训练集的优化哈希矩阵,最后利用该优化哈希矩阵对原模型的参数进行再优化,进而获得更优的哈希学习算法.实验结果表明,该方法对不同的哈希学习算法性能都有较为显著的提升. 相似文献
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针对固定翼无人机纵向控制的高性能需求,提出一种控制系统性能优化结构.该结构包括一个使系统稳定的标称控制器和一个参与性能优化的增量式控制器.控制系统增量式的实现不会改变原有的控制系统,而是仅对标称控制系统做控制输入的补偿与控制性能的优化.基于Q学习理论进行增量式控制器设计,针对状态信息完全可获得的系统,设计一种基于状态反馈的增量式Q学习算法.当状态信息不能完全获得时,利用系统输入、输出和参考信号数据,设计一种基于输出反馈的增量式Q学习算法.两种增量式控制器均是在数据驱动环境下自适应学习增量式控制律,无需提前知道系统动力学模型以及标称控制器的控制增益.此外,证明了增量式Q学习方法在满足持续激励条件的激励噪声下,对Q函数贝尔曼方程的求解没有偏差.最后,通过对F-16飞行器纵向模型实例的仿真验证该方法的有效性. 相似文献
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This paper deals with the problem of how to render the jump linear quadratic (JLQ) control robust. Mainly, we present sufficient conditions for quadratic stabilization and guaranteed cost control of uncertain jump linear system using state feedback control. The proposed control law contains two components. The first one is a JLQ control law, while the second is a nonlinear bounded term to render the system robust and whose cost is not included in the performance index. © 1997 by John Wiley & Sons, Ltd. 相似文献
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Jump linear quadratic regulator with controlled jump rates 总被引:1,自引:0,他引:1
Deals with the class of continuous-time linear systems with Markovian jumps. We assume that jump rates are controlled. Our purpose is to study the jump linear quadratic (JLQ) regulator of the class of systems. The structure of the optimal controller is established. For a one-dimensional (1-D) system, an algorithm for solving the corresponding set of coupled Riccati equations of this optimal control problem is provided. Two numerical examples are given to show the usefulness of our results 相似文献
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Consideration is given to the control of continuous-time linear systems that possess randomly jumping parameters which can be described by finite-state Markov processes. The relationship between appropriately defined controllability, stabilizability properties, and the solution of the infinite time jump linear quadratic (JLQ) optimal control problems is also examined. Although the solution of the continuous-time Markov JLQ problem with finite or infinite time horizons is known, only sufficient conditions for the existence of finite cost, constant, stabilizing controls for the infinite time problem appear in the literature. In this paper necessary and sufficient conditions are established. These conditions are based on new definitions of controllability, observability, stabilizability, and detectability that are appropriate for continuous-time Markovian jump linear systems. These definitions play the same role for the JLQ problem as the deterministic properties do for the linear quadratic regulator (LQR) problem 相似文献
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The Jump Linear Quadratic Gaussian (JLQG) model is well studied due to its wide applications. However, JLQG with controlled jump rates are rarely researched, while the existing studies usually impose an assumption that jump rates are independent and separately controlled. In practical systems, their jump rates may not be independent of each other. In this paper, we consider a continuous‐time JLQG model with dependently controlled jump rates and formulate it as a two‐level control problem. The low‐level problem is a standard JLQG problem, thus we focus on solution of high‐level problem. We propose a Markov decision process‐based approach to calculate performance gradient with respect to jump rates control variable and develop a gradient‐based optimization algorithm. We present an application of manufacturing system to illustrate the main results of this paper. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
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In this article, an extended state observer-based finite-region control scheme is presented for two-dimensional Markov jump systems with unknown mismatched disturbances. The mathematical model of the two-dimensional Markov jump systems is built on the well-known Roesser model. By establishing special recursive formulas and utilizing the 2-D Lyapunov function theory, sufficient conditions are obtained, which prove that the resultant system is finite-region bounded, if some linear matrix inequalities are achieved. Then, we provide an algorithm to solve the extended state observer-based controller gains. With the proposed control scheme, the external disturbances can be actively rejected from the system outputs. To conclude, a numerical example based on the Darboux equation is provided to demonstrate the validity and effectiveness of the devised control scheme. 相似文献
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研究离散时间参数不确定的线性随机系统的加权多模型自适应控制(Weighted multiple model adaptive control, WMMAC)问题,采用一种改进的加权算法,在模型输出误差可分的情况下,可以保证其收敛性;然后在加权收敛的前提下, 借助虚拟等价系统的概念和方法证明了此类加权多模型自适应控制系统的稳定性和收敛性.本文所采用的分析方法和结论不依赖于局部控制策略和加权算法的具体形式, 而只取决于它们的某些属性.最后,基于Matlab对相应的加权多模型自适应控制系统进行了仿真,仿真结果验证了加权算法的收敛性和闭环控制系统的稳定性、收敛性. 相似文献
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针对轮式移动机器人循迹偏差问题,以差速驱动型AGV为研究对象,基于LQR(LinearQuadratic Regulator)线性二次型最优控制算法设计磁导航AGV纠偏控制器,控制AGV速度实现循迹跟踪。通过对磁导航AGV偏差建模,将决定AGV运行的驱动电机线性化,建立其状态空间模型,判别系统能控、能观性;同时用Matlab进行仿真设计,实验得到最佳Q、R完成最优控制器设计;通过Simulink设计基于LQR最优控制算法的AGV纠偏控制系统模型,并与传统PID控制算法进行对比分析表明,论文设计的基于LQR算法纠偏控制模型具有更好的收敛性和实时响应性。 相似文献