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conference paper · TU/e Research Portal · 2020

On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control

Poot, M.M., Jim Portegies, Tom Oomen, Raffaella Carloni, Bayu Jayawardhana, Erjen Lefeber

Cited by 6Open access

Abstract

Learning from data of past tasks can substantially improve the accuracy of mechatronic systems. Often, for fast and safe learning a model of the system is required. The aim of this paper is to develop a model-free approach for fast and safe learning for mechatronic systems. The developed actor-critic iterative learning control (ACILC) framework uses a feedforward parameterization with basis functions. These basis functions encode implicit model knowledge and the actor-critic algorithm learns the feedforward parameters without explicitly using a model. Experimental results on a printer setup demonstrate that the developed ACILC framework is capable of achieving the same feedforward signal as preexisting model-based methods without using explicit model knowledge.

Cite this paper

APA 7

Poot, M., Portegies, J., Oomen, T., Carloni, R., Jayawardhana, B., & Lefeber, E. (2020). On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control. TU/e Research Portal.

MLA 9

Poot, M.M., et al. “On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control.” TU/e Research Portal, 2020.

Chicago

Poot, M.M., Jim Portegies, Tom Oomen, Raffaella Carloni, Bayu Jayawardhana, and Erjen Lefeber. 2020. “On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control.” TU/e Research Portal.

Harvard

Poot, M. et al. (2020) ‘On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control’, TU/e Research Portal.

BibTeX
@article{poot2020role,
  title = {{On the Role of Models in Learning Control: Actor-Critic Iterative Learning Control}},
  author = {Poot, M.M. and Portegies, Jim and Oomen, Tom and Carloni, Raffaella and Jayawardhana, Bayu and Lefeber, Erjen},
  journal = {TU/e Research Portal},
  year = {2020}
}

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