フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2023/07
形態種別	国際会議論文
査読	査読あり
標題	Q-learning based model-free input-output feedback linearization control method
執筆形態	共著
掲載誌名	Preprints of the 22nd IFAC World Congress, Yokohama, Japan, July 9-14, 2023
掲載区分	国外
出版社・発行元	IFAC
巻・号・頁	pp.10253-10258
総ページ数	6
国際共著	国際共著
著者・共著者	Yipu Sun, Xin Chen, Wenpeng He, Ziying Zhang, Edwardo F. Fukushima, Jinhua She
概要	Input-output feedback linearization is a nonlinear control method that relies on a precise dynamical model. Combining Q-learning techniques, an input-output feedback linearization correction framework is presented to accomplish model-free feedback linearization of affine nonlinear systems in order to tackle the problem caused by the unknown dynamics model. This framework formulates a model reference tracking control problem that guides the input-output relationship of the nonlinear system into a linear relationship. Due to the two Lie derivative terms present in the feedback linearized controller, the controller is designed as a dual network structure. To overcome the issue of coupling in the dual-network controller, a model-free Q-learning method is presented to solve the unknown controller network weights. The proposed method is experimentally validated on a single-link flexible joint manipulator system, and the resultant linearized system exhibits dynamics similar to the desired linear system in a new tracking task, proving the effectiveness of the proposed method.