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arXiv · 1903.02078

Output-feedback online optimal control for a class of nonlinear systems

Ryan Self·Michael Harlan·Rushikesh Kamalapurkar
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Abstract

In this paper an output-feedback model-based reinforcement learning (MBRL) method for a class of second-order nonlinear systems is developed. The control technique uses exact model knowledge and integrates a dynamic state estimator within the model-based reinforcement learning framework to achieve output-feedback MBRL. Simulation results demonstrate the efficacy of the developed method.

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BibTeXRIS

Ryan Self, Michael Harlan, Rushikesh Kamalapurkar. 2019-03-05. Output-feedback online optimal control for a class of nonlinear systems. https://doi.org/10.23919/acc.2019.8814910

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