TY - GEN
T1 - Reinforcement Learning-based Active Disturbance Rejection Control for Nonlinear Systems with Disturbance
AU - Kong, Xiangyu
AU - Xia, Yuanqing
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper proposes a reinforcement learning-based active disturbance rejection controller (RL-ADRC) for trajectory tracking control of partially unknown nonlinear systems with external disturbances. It is also a complementary combination of RL and ADRC. In this method, an actor-critic-based RL algorithm is employed to explore an optimal and adaptive control strategy. Unlike traditional ADRC, which requires manual tuning of controller parameters, RL-ADRC utilizes an actor-critic network to approximate the optimal control strategy. By adopting the disturbance compensation philosophy from ADRC and integrating it with RL, RL-ADRC exhibits improved robustness against tracking errors, and the learning process is more efficient in terms of time.
AB - This paper proposes a reinforcement learning-based active disturbance rejection controller (RL-ADRC) for trajectory tracking control of partially unknown nonlinear systems with external disturbances. It is also a complementary combination of RL and ADRC. In this method, an actor-critic-based RL algorithm is employed to explore an optimal and adaptive control strategy. Unlike traditional ADRC, which requires manual tuning of controller parameters, RL-ADRC utilizes an actor-critic network to approximate the optimal control strategy. By adopting the disturbance compensation philosophy from ADRC and integrating it with RL, RL-ADRC exhibits improved robustness against tracking errors, and the learning process is more efficient in terms of time.
KW - Active Disturbance Rejection Controller
KW - Reinforcement learning
KW - Trajectory Tracking Control
UR - http://www.scopus.com/inward/record.url?scp=85173614924&partnerID=8YFLogxK
U2 - 10.1109/CFASTA57821.2023.10243334
DO - 10.1109/CFASTA57821.2023.10243334
M3 - Conference contribution
AN - SCOPUS:85173614924
T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
SP - 799
EP - 804
BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Y2 - 14 July 2023 through 16 July 2023
ER -