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Robust Reinforcement Learning Control System with H<SUB>∞</SUB> Tracking Performance Compensator
Shogo Uchiyama,Masanao Obayashi,Takashi Kuremoto,Kunikazu Kobayashi 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Robust control theory generally guarantees robustness and stability of the closed-loop system, however it requires mathematical model of the system to design the control system. Therefore, it can’t often deal with nonlinear systems because of difficulty of modeling of the system. Other, reinforcement learning method can deal with the nonlinear system without mathematical model, however, it usually doesn’t guarantee the stability of control. In this paper, we propose a “Robust Reinforcement Learning Control System (RRLCS)“ through combining reinforcement learning to treat unknown nonlinear systems and using robust control theory to guarantee the robustness and stability of the system. As a robust control method, we adopt H∞ control which is robust to modelling error and disturbance. On the other hand, as a reinforcement learning method, we adopt an Actor-Critic method with minimal amount of computation for the continuous action and state space. Moreover, we analyze the stability of the proposed system using H∞ tracking performance and Lyapunov function. Finally, through the computer simulation for controlling the inverted pendulum system, we show the effectiveness of the proposed method comparing with an Adaptive Fuzzy Control method with H∞ tracking performance compensator (AFC) and an Auto-Structuring Fuzzy Neural Control System method (ASFNCS).
Intelligent Tracking Control Method of A Target by Group of Agents with Nonlinear Dynamics
Masanao Obayashi,Yuuki Yokoji,Shogo Uchiyama,Liangbing Feng,Takashi Kuremoto,Kunikazu Kobayashi 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper proposes the intelligent tracking control of the target by group of agents with nonlinear dynamics. In the proposed method, agents can exchange only information of positions and the group of agents track the target based on only its position, taking a predefined formation. In the real world, the method that agents do not require a lot of information is useful for the case of existing communication delay of information and weak communication. In addition, each agent shall have the nonlinear dynamics and external disturbance. Therefore an auto- structuring fuzzy neural control system (ASFNCS) is introduced to provide appropriate control inputs while coping well with disturbance and nonlinear dynamics. Thus, while maintaining adequate control performance, the method can reduce the computational load. In the simulation, it is verified that the proposed method is useful in the point of target tracking performance through distributed agent cooperation behaviors.
( Yasunari Sakamoto ),( Shingo Kato ),( Yusuke Sekino ),( Eiji Sakai ),( Takashi Uchiyama ),( Hiroshi Iida ),( Kunihiro Hosono ),( Hiroki Endo ),( Koji Fujita ),( Tomoko Koide ),( Hirokazu Takahashi ) 대한소화기기능성질환·운동학회 2011 Journal of Neurogastroenterology and Motility (JNM Vol.17 No.2
Background/Aims There are few reports on the correlation between chewing gum and the gastrointestinal functions. But previous report showed use of chewing gum to be an effective method for controlling gastrointestinal symptoms. The aim of this study was to determine the correlation between chewing gum and gastric emptying using the continuous real time 13C breath test (BreathID system). Methods Ten healthy male volunteers participated in this randomized, 2-way crossover study. The subjects fasted overnight and were randomly assigned to chewing gum (Xylish, 2-3/1 tablet) for an hour following intake of a test meal (200 kcal/200 mL) or intake of the test meal alone. Gastric emptying was monitored for 4 hours after administration of the test meal by the 13C-acetic acid breath test performed continually using the BreathID system. Results No significant differences in the calculated parameters, namely, T1/2 (median, 111.82 vs 109.26 minutes; P = 0.575), Tlag (median, 53.28 vs 56.53 minutes; P = 0.333), gastric emptying coefficient (median, 3.58 vs 3.65; P = 0.285), regression-estimated constant β (median, 1.85 vs 1.80; P = 0.575) and regression-estimated constant κ (median, 0.61 vs 0.62; P = 0.959) were observed between the test meal alone group and the test meal and chewing gum group. Conclusions This study showed that chewing gum had no effect on the rate of gastric emptying. Therefore, since chewing gum did not enhance the speed of gastric emptying, it may ameliorate gastrointestinal symptoms through other mechanisms, such as saliva and autonomic nervous system. (J Neurogastroenterol Motil 2011;17:174-179)
SUGIYAMA, KOICHIRO,YONEKURA, YOSHINORI,MOTOGI, KAZUHITO,SAITO, YU,FUJISAWA, KENTA,ISHII, SHOTA,MOMOSE, MUNETAKE,HONMA, MAREKI,TAZAKI, FUMIE,TANAKA, KEI E.I.,HOSOKAWA, TAKASHI,UCHIYAMA, MIZUHO,INAYOSHI The Korean Astronomical Society 2015 天文學論叢 Vol.30 No.2
We have initiated single-dish monitoring observations of ~400 methanol maser sources at 6.7 GHz using the Hitachi 32-m radio telescope from December 2012 to systematically research periodic flux variations, which are observed in some methanol maser sources associated with high-mass (proto-)stars. In our monitoring, we have made daily monitoring, so that each source has been observed every nine days with an integration time of 5 min (typical $3{\sigma}$ detection sensitivities of 0.9 Jy). The monitoring observations help us statistically understand periodic flux variations with a period longer than 50 days. As an initial result, we present a new detection of periodic flux variations in the 6.7 GHz methanol maser source G 036.70+00.09. The period of the flux variations is ~53 days (~0.019 cycles $day^{-1}$), and seems to be stable over 9 cycles, at least until the middle of August 2014.