Application of Newton's method to action selection in continuous state- and action-space reinforcement learning

An algorithm based on Newton’s Method is proposed for action selection in continuous state- and action-space reinforcement learning without a policy network or discretization. The proposed method is validated on two benchmark problems: Cart-Pole and double Cart-Pole on which the proposed method achieves comparable or improved performance with less parameters to tune and in less training episodes than CACLA, which has previously been shown to outperform many other continuous state- and action-space reinforcement learning algorithms

Adaptive Neuro-Genetic Control of Chaos applied to the Attitude Control Problem

Conventional adaptive control techniques have, for the most part, been based on methods for linear or weakly non-linear systems. More recently, neural network and genetic algorithm controllers have started to be applied to complex, non-linear dynamic systems. The control of chaotic dynamic systems poses a series of especially challenging problems. In this paper, an adaptive control architecture using neural networks and genetic algorithms is applied to a complex, highly nonlinear, chaotic dynamic system: the adaptive attitude control problem (for a satellite), in the presence of large, external forces (which left to themselves led the system into a chaotic motion). In contrast to the OGY method, which uses small control adjustments to stabilize a chaotic system in an otherwise unstable but natural periodic orbit of the system, the neuro-genetic controller may use large control adjustments and proves capable of effectively attaining any specified system state, with no a prioriknowledge of the dynamics, even in the presence of significant noise

Genetic Programming for Prediction and Control

The relatively ‘new’ field of genetic programming has received a lot of attention during the last few years. This is because of its potential for generating functions which are able to solve specific problems. This paper begins with an extensive overview of the field, highlighting its power and limitations and providing practical tips and techniques for the successful application of genetic programming in general domains. Following this, emphasis is placed on the application of genetic programming to prediction and control. These two domains are of extreme importance in many disciplines. Results are presented for an oral cancer prediction task and a satellite attitude control problem. Finally, the paper discusses how the convergence of genetic programming can be significantly speeded up through bulk synchronous model parallelisation