A Parametric Study of a Deep Reinforcement Learning Control System Applied to the Swing-Up Problem of the Cart-Pole

Applied Sciences

CarmineMaria Pappalardo¹  Domenico Guida¹  CamiloAndrés Manrique Escobar² 

[1] Department of Industrial Engineering, University of Salerno, via Giovanni Paolo II, 132, 84084 Fisciano (SA), Italy;MEID4 Academic Spin-Off of the University of Salerno, via Giovanni Paolo II, 132, 84084 Fisciano (SA), Italy;

关键词: multibody system dynamics;    machine learning;    deep reinforcement learning;    artificial intelligence;    nonlinear control;    robustness;   

DOI  :  10.3390/app10249013

来源: DOAJ

【 摘 要 】

In this investigation, the nonlinear swing-up problem associated with the cart-pole system modeled as a multibody dynamical system is solved by developing a deep Reinforcement Learning (RL) controller. Furthermore, the sensitivity analysis of the deep RL controller applied to the cart-pole swing-up problem is carried out. To this end, the influence of modifying the physical properties of the system and the presence of dry friction forces are analyzed employing the cumulative reward during the task. Extreme limits for the modifications of the parameters are determined to prove that the neural network architecture employed in this work features enough learning capability to handle the task under modifications as high as 90% on the pendulum mass, as well as a 100% increment on the cart mass. As expected, the presence of dry friction greatly affects the performance of the controller. However, a post-training of the agent in the modified environment takes only thirty-nine episodes to find the optimal control policy, resulting in a promising path for further developments of robust controllers.

【 授权许可】

Unknown