Deep Reinforcement Learning Control for Disturbance Rejection in a Nonlinear Dynamic System with Parametric Uncertainty

核心概念

Deep reinforcement learning control can effectively reject multiple independent and time-correlated stochastic disturbances in a nonlinear dynamic system with parametric uncertainty.

摘要

The content describes a technique for active rejection of multiple independent and time-correlated stochastic disturbances for a nonlinear flexible inverted pendulum with cart (FIPWC) system with uncertain model parameters. The control law is determined through deep reinforcement learning, specifically with a continuous actor-critic variant of deep Q-learning known as Deep Deterministic Policy Gradient (DDPG).

The FIPWC system is modeled as a beam with a tip mass, with flexibility effects modeled as linear springs. Parametric uncertainty is applied to the model through the pendulum's structural stiffness and damping coefficients, as well as the cart's friction damping coefficient. Disturbances are injected into the system through three independent Ornstein-Uhlenbeck stochastic processes.

The DDPG agent learns a policy that maps the system states to control actions to keep the pendulum vertical throughout the simulation while under the influence of the stochastic disturbances. Simulation results are compared to a classical proportional-derivative (PD) control system, demonstrating the superior performance of the deep reinforcement learning approach, particularly in the presence of the cart velocity disturbance.

统计

mtL2¨θ + mtL¨zcosθ + mtLl¨ϕcos(θ-ϕ) + mtLl˙ϕ2sin(θ-ϕ) + 1/2k1L2sin(2θ) - mtgLsinθ + b1L˙zcosθ + b1L2˙θ + b1Ll˙ϕcos(θ-ϕ) = 0
(mt + mb)l2¨ϕ + (mt + mb)l¨zcosϕ + mtLl¨θcos(θ-ϕ) + (b1 + b2)l˙zcosϕ + (b1 + b2)l2˙ϕ + b1Ll˙θcos(θ-ϕ) - mtLl˙θ2sin(θ-ϕ) + 1/2k2l2sin(2ϕ) - mbglsinϕ = 0
(mc + mb + mt)¨z + (mt + mb)l(¨ϕcosϕ - ˙ϕ2) + mtL(¨θcosθ - ˙θ2sinθ) + (b1 + b2 + b3)˙z + (b1 + b2)l˙ϕcosϕ + b1L˙θcosθ = F

引用

"Deep reinforcement learning control can effectively reject multiple independent and time-correlated stochastic disturbances in a nonlinear dynamic system with parametric uncertainty."
"The DDPG agent learns a policy that maps the system states to control actions to keep the pendulum vertical throughout the simulation while under the influence of the stochastic disturbances."

从中提取的关键见解

Deep Reinforcement Learning Control for Disturbance Rejection in a Nonlinear Dynamic System with Parametric Uncertainty

by Vincent W. H... 在 arxiv.org 04-09-2024

https://arxiv.org/pdf/2404.04699.pdf

更深入的查询

How could this deep reinforcement learning control approach be extended to handle more complex nonlinear dynamic systems, such as those found in aerospace vehicles?

In order to extend the deep reinforcement learning (DRL) control approach to more complex nonlinear dynamic systems like those in aerospace vehicles, several key considerations should be taken into account:

Model Complexity: For aerospace vehicles, the dynamic models are often highly complex and may involve multiple interacting subsystems. To handle this complexity, the DRL algorithm would need to be adapted to work with higher-dimensional state and action spaces. This could involve using more advanced neural network architectures to capture the intricate dynamics accurately.

Uncertainty Handling: Aerospace systems are prone to various sources of uncertainty, including environmental disturbances and sensor noise. Enhancing the DRL algorithm to effectively deal with these uncertainties through techniques like robust optimization or ensemble learning could improve its performance in real-world aerospace applications.

Safety Constraints: Aerospace systems have stringent safety requirements. Incorporating safety constraints into the DRL algorithm, such as limiting control inputs to prevent dangerous maneuvers or ensuring stability boundaries are not violated, is crucial for safe operation in aerospace environments.

Real-time Adaptation: Aerospace systems often operate in dynamic and changing environments. Developing adaptive DRL algorithms that can learn and adjust their control policies in real-time based on incoming data or changing conditions would be essential for handling the complexities of aerospace vehicles.

Integration with Domain Knowledge: Combining DRL with domain-specific knowledge of aerospace systems, such as aerodynamics, propulsion, and structural dynamics, can enhance the algorithm's understanding of the underlying physics and improve its control performance in complex aerospace scenarios.

By addressing these aspects and tailoring the DRL approach to the specific challenges of aerospace systems, it can be extended to effectively handle the complexities of nonlinear dynamic systems in aerospace vehicles.

What are the potential limitations or drawbacks of using deep reinforcement learning for disturbance rejection compared to other control techniques, and how could these be addressed?

While deep reinforcement learning (DRL) offers significant advantages for disturbance rejection in nonlinear systems, it also comes with certain limitations and drawbacks:

Sample Efficiency: DRL algorithms often require a large number of samples to learn an effective control policy, which can be time-consuming and computationally expensive. To address this limitation, techniques like experience replay or prioritized experience replay can be employed to improve sample efficiency and accelerate learning.

Exploration-Exploitation Trade-off: Balancing exploration (trying new actions) and exploitation (leveraging known actions) is crucial in DRL. In complex systems, this trade-off can be challenging, leading to suboptimal control policies. Advanced exploration strategies, such as epsilon-greedy policies or noisy networks, can help address this issue.

Generalization to Unseen Scenarios: DRL models may struggle to generalize well to unseen scenarios or environments, especially in aerospace applications where conditions can vary widely. Incorporating transfer learning techniques or domain randomization during training can enhance the model's ability to adapt to new situations.

Safety and Stability: Ensuring the safety and stability of DRL-controlled systems is paramount, as incorrect actions can have severe consequences in aerospace settings. Implementing safety constraints, reward shaping, or using model-based reinforcement learning approaches can mitigate risks and improve system stability.

Interpretability and Explainability: DRL models are often considered black boxes, making it challenging to interpret their decisions or understand the underlying control mechanisms. Employing techniques like attention mechanisms, saliency maps, or model introspection can enhance the interpretability of DRL algorithms.

By addressing these limitations through advanced algorithmic enhancements, safety measures, and interpretability techniques, the drawbacks of using DRL for disturbance rejection can be mitigated, making it a more robust and reliable control technique for complex systems.

What insights from the development of this deep reinforcement learning control system could be applied to the design of other intelligent control systems for complex, uncertain environments?

The development of the deep reinforcement learning (DRL) control system for disturbance rejection in nonlinear systems offers valuable insights that can be applied to the design of other intelligent control systems for complex and uncertain environments:

Adaptability: DRL algorithms showcase adaptability to changing environments and uncertainties, making them suitable for dynamic and uncertain systems. This adaptability can be leveraged in designing intelligent control systems that need to operate in diverse and evolving conditions.

Nonlinear Control: DRL excels in handling nonlinear dynamics, which are prevalent in complex systems. Insights from developing DRL controllers can be utilized to design intelligent control systems for nonlinear environments, such as robotics, autonomous vehicles, or industrial processes.

Robustness: The robustness of DRL algorithms to disturbances and uncertainties can be beneficial for designing control systems that require resilience to external factors. By incorporating similar robustness mechanisms, other intelligent control systems can enhance their performance in challenging scenarios.

Learning from Data: DRL systems learn from data and experience, enabling them to improve their control policies over time. This data-driven learning approach can be applied to other intelligent control systems to enhance their decision-making capabilities and adaptability based on real-time information.

Integration of AI Techniques: The integration of deep learning, reinforcement learning, and control theory in DRL systems provides a holistic approach to intelligent control. Similar integrations of AI techniques can be explored in the design of other control systems to leverage the strengths of different methodologies for optimal performance.

By transferring these insights and methodologies from DRL development to the design of other intelligent control systems, engineers can create advanced control solutions that are robust, adaptive, and effective in managing complexity and uncertainty in diverse environments.