03875nam 22007215 450 991048421690332120251113185056.03-030-33384-110.1007/978-3-030-33384-3(CKB)4100000009836392(MiAaPQ)EBC5975970(DE-He213)978-3-030-33384-3(PPN)243771169(EXLCZ)99410000000983639220191109d2020 u| 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierDeep Reinforcement Learning with Guaranteed Performance A Lyapunov-Based Approach /by Yinyan Zhang, Shuai Li, Xuefeng Zhou1st ed. 2020.Cham :Springer International Publishing :Imprint: Springer,2020.1 online resource (xvii, 225 pages) illustrationsStudies in Systems, Decision and Control,2198-4190 ;2653-030-33383-3 A Survey of Near-Optimal Control of Nonlinear Systems -- Near-Optimal Control with Input Saturation -- Adaptive Near-Optimal Control with Full-State Feedback -- Adaptive Near-Optimal Control Using Sliding Mode -- Model-Free Adaptive Near-Optimal Tracking Control -- Adaptive Kinematic Control of Redundant Manipulators -- Redundancy Resolution with Periodic Input Disturbance.This book discusses methods and algorithms for the near-optimal adaptive control of nonlinear systems, including the corresponding theoretical analysis and simulative examples, and presents two innovative methods for the redundancy resolution of redundant manipulators with consideration of parameter uncertainty and periodic disturbances. It also reports on a series of systematic investigations on a near-optimal adaptive control method based on the Taylor expansion, neural networks, estimator design approaches, and the idea of sliding mode control, focusing on the tracking control problem of nonlinear systems under different scenarios. The book culminates with a presentation of two new redundancy resolution methods; one addresses adaptive kinematic control of redundant manipulators, and the other centers on the effect of periodic input disturbance on redundancy resolution. Each self-contained chapter is clearly written, making the book accessible to graduate students as well as academic and industrial researchers in the fields of adaptive and optimal control, robotics, and dynamic neural networks.Studies in Systems, Decision and Control,2198-4190 ;265Control engineeringRoboticsComputational intelligenceSystem theoryControl theoryAutomationControl and Systems TheoryRoboticsComputational IntelligenceSystems Theory, ControlControl, Robotics, AutomationControl engineering.Robotics.Computational intelligence.System theory.Control theory.Automation.Control and Systems Theory.Robotics.Computational Intelligence.Systems Theory, Control.Control, Robotics, Automation.629.8312629.8312Zhang Yinyanauthttp://id.loc.gov/vocabulary/relators/aut946977Li Shuaiauthttp://id.loc.gov/vocabulary/relators/autZhou Xuefengauthttp://id.loc.gov/vocabulary/relators/autMiAaPQMiAaPQMiAaPQBOOK9910484216903321Deep Reinforcement Learning with Guaranteed Performance2139507UNINA