Optimal control methods are generally too expensive to be applied on-line and in real-time to the control of robots. An alternative method consists in tuning a parametrized reactive controller so that it converges to optimal behavior. In this paper we present such a method based on the “direct Policy Search” paradigm to get a cost-efficient control policy for a simulated two degrees-of-freedom ...

It is shown here that stability of the stochastic approximation algorithm is implied by the asymptotic stability of the origin for an associated 0.d.e. This in turn implies convergence of the algorithm. Several specific classes of algorithms are considered as applications. It is found that the results provide (i) a simpler derivation of known results for reinforcement learning algorithms; (ii) ...

Dear Editor, This letter proposes a robust control strategy for the autonomous landing of quadrotor on moving target. Specifically, force command that consists cascade dynamics estimator and an optimal guaranteed cost law is exploited position-loop tracking. Then, orientation constraint torque employed attitude-loop tracking such refrains from flipping during operation. Stability analysis indic...