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Table Of Contents

Introduction
1.1 Control
1.1.1 Designing the state feedback controller
1.1.2 Unknown systems
1.2 Reinforcement Learning
1.3 Problem Statement
1.4 Overview of this Thesis
Reinforcement Learning
2.1 A Discrete Deterministic Optimal Control Task
2.1.1 The problem
2.2. THE STOCHASTIC OPTIMIZATION TASKS 13
2.1.2 The solution
2.2 The Stochastic Optimization Tasks
2.2.1 The Markov Decision Process
2.2.2 Model based solutions
2.2.3 Reinforcement Learning solutions
2.2.4 Advanced topics
2.2.5 Summary
2.3 RL for Continuous State Spaces
2.3.1 Continuous state space representations
2.3.2 Learning in continuous domains
2.3.3 Summary
2.4 Discussion
LQR using Q-Learning
3.1 Introduction
3.2 LQR with an Unknown System
3.2.1 Linear Quadratic Regulation
3.2.2 System Identification
3.2.3 The Q-function
3.2.4 Q-Learning
3.2.5 The Performance Measure
3.2.6 Overview
3.3 The Influence of Exploration
3.3.1 The estimation reformulated
3.3.2 The System Identification approach
3.3.3 The LQRQL approach
3.3.4 The Exploration Characteristics
3.4 Simulation Experiments
3.4.1 Setup
3.4.2 Exploration Characteristic
3.5 Discussion
3.6 Conclusion
LQRQL for Nonlinear Systems
4.1 Introduction
4.2 Nonlinearities
4.2.1 The nonlinear system
4.2.2 Nonlinear approaches
4.2.3 Summary
4.3 The Extended LQRQL Approach
4.3.1 SI and LQRQL for nonlinear systems
4.3.2 The extension to LQRQL
4.3.3 Estimating the new quadratic Q-function
4.4. EXPLORATION CHARACTERISTIC FOR EXTENDED LQRQL 59
4.4 Exploration Characteristic for Extended LQRQL
4.5. SIMULATION EXPERIMENTS WITH A NONLINEAR SYSTEM 63
4.5 Simulation Experiments with a Nonlinear System
4.5.1 The nonlinear system
4.5.2 Experiment with a nonzero average w
4.5.3 Experiments for different average w
4.6 Experiments on a Real Nonlinear System
4.6.1 Introduction
4.6.2 The experiments
4.7 Discussion
4.8 Conclusions
Neural Q-Learning using LQRQL
5.1 Introduction
5.2 Neural Nonlinear Q-functions
5.3.2 Discussion
5.4 Training the Network
5.5. SIMULATION EXPERIMENTS WITH A NONLINEAR SYSTEM 83
5.5 Simulation Experiments with a Nonlinear System
5.5.1 Introduction
5.5.2 The experimental procedure
5.5.3 The performance of the global feedback functions
5.5.4 Training with a larger train set
5.6 Experiment on a Real Nonlinear System
5.7 Discussion
5.8 Conclusions
Conclusions and Future work
6.1 LQR and Q-Learning
6.4 General Conclusion
The Least Squares Estimation
A.1 The QR-Decomposition
A.2 The Least Squares Solution
A.3 The SI Estimation
The Mobile Robot
B.1 The robot
B.2 The model of the robot
Notation and Symbols
C.1 Notation
C.2 Symbols
Summary
Samenvatting
Acknowledgments
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ContinousQLearning

ContinousQLearning

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Published by Dawei Peng

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Published by: Dawei Peng on Jun 29, 2011
Copyright:Attribution Non-commercial

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04/19/2012

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