Adaptive PID controller based on Q-learning algorithm

• 作 者: Qian Shi Hak-Keung Lam Bo Xiao
• 机 构: DepartmentofInformatics,HamlynCentreforRoboticSurgery,GraduateInstituteofAutomationTechnology
• 出 处: 智能技术学报
• 发表日期: 2018年4期
• 关键词: ADAPTIVE PID the CONTROLLER
• 基金项目: King’s College London,China Scholarship Council and the Ministry of Science and Technology,Taiwan(grant MOST-106-2221-E-027-009).

An adaptive proportional–integral–derivative(PID)controller based on Q-learning algorithm is proposed to balance the cart–pole system in simulation environment.This controller was trained using Q-learning algorithm and implemented the learned Q-tables to