Balancing and Control of a Freely-Swinging Pendulum Using a Model-Free Reinforcement Learning Algorithm
نویسنده
چکیده
We consider the problem of controlling and balancing a freely-swinging pendulum on a moving cart. We assume that no model of the nonlinear system is available. We model the problem as a Markov Decision Process and draw techniques from the field of Reinforcement Learning to implement a learning controller. Although slow, the learning process is demonstrated (in simulation) on two challenging control tasks.
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تاریخ انتشار 2007