Large-Scale Scientific Computing by Ivan Lirkov Svetozar D. Margenov & Jerzy Waśniewski

Author:Ivan Lirkov, Svetozar D. Margenov & Jerzy Waśniewski
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

2 Methods and Algorithms

2.1 Adaptive Critic Design

The main scheme of RL approach called ACD is shown on Fig. 1. It solves in forward manner the following task: for the given discrete dynamical system with state x(k) find a time profile of control actions that maximizes (minimizes) given utility function U(k) through all time steps .

Fig. 1.Adaptive Critic Design scheme.

In our case utility function depends on the difference between predictions of Kalman filter (that is system state x(k)) and reference signal coming from additional sensor (here we suppose that this could be movement assessment from the camera) as follows:

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