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An Online Adaptive Policy Iteration-Based Reinforcement Learning for a Class of a Nonlinear 3D Overhead Crane

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  • Alyazidi, Nezar M.
  • Hassanine, Abdalrahman M.
  • Mahmoud, Magdi S.

Abstract

We consider an online policy iteration-based reinforcement learning for a class of a nonlinear three-dimensional overhead crane with bounded uncertainties. Under the assumption that the rope length is fixed with small swing angles, a linearized model is derived. The system has four states; two actuated states: position x and y, and two un-actuated states, which are the rope angles θx and θy. The adaptive reinforcement learning controller is designed to handle the effects of measurement noises and outliers. We propose a model-free; hence it does not require precise knowledge of the system dynamics. When the state information is not available, a Kalman filter estimator is equipped with a dynamical saturation function to attenuate the effects of measurement noises and to remove outliers. A simulation study is established to illustrate the influence and robustness of the developed controller, and it can enhance the tracking trajectory under different scenarios to test the scheme.

Suggested Citation

  • Alyazidi, Nezar M. & Hassanine, Abdalrahman M. & Mahmoud, Magdi S., 2023. "An Online Adaptive Policy Iteration-Based Reinforcement Learning for a Class of a Nonlinear 3D Overhead Crane," Applied Mathematics and Computation, Elsevier, vol. 447(C).
    • Handle: RePEc:eee:apmaco:v:447:y:2023:i:c:s0096300322008785
    DOI: 10.1016/j.amc.2022.127810
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    References listed on IDEAS

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    1. Xuejuan Shao & Jinggang Zhang & Xueliang Zhang, 2019. "Takagi-Sugeno Fuzzy Modeling and PSO-Based Robust LQR Anti-Swing Control for Overhead Crane," Mathematical Problems in Engineering, Hindawi, vol. 2019, pages 1-14, April.
    2. Xiao Sun & Zhihang Xie, 2020. "Reinforcement Learning-Based Backstepping Control for Container Cranes," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-13, February.
    3. A. Giua & M. Sanna & C. Seatzu, 2001. "Observer-Controller Design for Three Dimensional Overhead Cranes Using Time-Scaling," Mathematical and Computer Modelling of Dynamical Systems, Taylor & Francis Journals, vol. 7(1), pages 77-107, March.
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